amiro-lld / include / VL53L0X / v1 / Api_vl53l0x / core / src / vl53l0x_api.c @ 6ebebd4d
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/*******************************************************************************
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Copyright � 2016, STMicroelectronics International N.V.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of STMicroelectronics nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
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IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#include "vl53l0x_api.h" |
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#include "vl53l0x_tuning.h" |
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#include "vl53l0x_interrupt_threshold_settings.h" |
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#include "vl53l0x_api_core.h" |
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#include "vl53l0x_api_calibration.h" |
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#include "vl53l0x_api_strings.h" |
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|
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//debugging
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#include <aos_thread.h> |
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#ifndef __KERNEL__
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#include <stdlib.h> |
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#endif
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#define LOG_FUNCTION_START(fmt, ...) \
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_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END(status, ...) \
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_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) |
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#ifdef VL53L0X_LOG_ENABLE
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#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
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level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
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#endif
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|
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/* Group PAL General Functions */
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|
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VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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|
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pVersion->major = VL53L0X_IMPLEMENTATION_VER_MAJOR; |
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pVersion->minor = VL53L0X_IMPLEMENTATION_VER_MINOR; |
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pVersion->build = VL53L0X_IMPLEMENTATION_VER_SUB; |
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pVersion->revision = VL53L0X_IMPLEMENTATION_VER_REVISION; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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|
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VL53L0X_Error VL53L0X_GetPalSpecVersion(VL53L0X_Version_t *pPalSpecVersion) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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pPalSpecVersion->major = VL53L0X_SPECIFICATION_VER_MAJOR; |
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pPalSpecVersion->minor = VL53L0X_SPECIFICATION_VER_MINOR; |
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pPalSpecVersion->build = VL53L0X_SPECIFICATION_VER_SUB; |
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pPalSpecVersion->revision = VL53L0X_SPECIFICATION_VER_REVISION; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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|
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VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, |
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uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t revision_id; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID, |
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&revision_id); |
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*pProductRevisionMajor = 1;
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*pProductRevisionMinor = (revision_id & 0xF0) >> 4; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, |
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VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, |
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VL53L0X_DeviceError *pDeviceErrorStatus) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t RangeStatus; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
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&RangeStatus); |
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*pDeviceErrorStatus = (VL53L0X_DeviceError)((RangeStatus & 0x78) >> 3); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetDeviceErrorString(VL53L0X_DeviceError ErrorCode, |
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char *pDeviceErrorString)
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_device_error_string(ErrorCode, pDeviceErrorString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, |
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char *pRangeStatusString)
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_range_status_string(RangeStatus, |
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pRangeStatusString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, |
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char *pPalErrorString)
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_pal_error_string(PalErrorCode, pPalErrorString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, |
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char *pPalStateString)
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_pal_state_string(PalStateCode, pPalStateString); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, VL53L0X_State *pPalState) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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*pPalState = PALDevDataGet(Dev, PalState); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes PowerMode) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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/* Only level1 of Power mode exists */
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if ((PowerMode != VL53L0X_POWERMODE_STANDBY_LEVEL1)
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&& (PowerMode != VL53L0X_POWERMODE_IDLE_LEVEL1)) {
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Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
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} else if (PowerMode == VL53L0X_POWERMODE_STANDBY_LEVEL1) { |
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/* set the standby level1 of power mode */
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Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
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if (Status == VL53L0X_ERROR_NONE) {
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/* Set PAL State to standby */
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PALDevDataSet(Dev, PalState, VL53L0X_STATE_STANDBY); |
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_STANDBY_LEVEL1); |
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} |
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} else {
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/* VL53L0X_POWERMODE_IDLE_LEVEL1 */
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Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
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if (Status == VL53L0X_ERROR_NONE)
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Status = VL53L0X_StaticInit(Dev); |
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if (Status == VL53L0X_ERROR_NONE)
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_IDLE_LEVEL1); |
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} |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes *pPowerMode) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t Byte; |
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LOG_FUNCTION_START("");
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/* Only level1 of Power mode exists */
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Status = VL53L0X_RdByte(Dev, 0x80, &Byte);
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if (Status == VL53L0X_ERROR_NONE) {
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if (Byte == 1) { |
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_IDLE_LEVEL1); |
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} else {
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PALDevDataSet(Dev, PowerMode, |
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VL53L0X_POWERMODE_STANDBY_LEVEL1); |
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} |
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} |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
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int32_t OffsetCalibrationDataMicroMeter) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev, |
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OffsetCalibrationDataMicroMeter); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
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int32_t *pOffsetCalibrationDataMicroMeter) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev, |
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pOffsetCalibrationDataMicroMeter); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, |
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int16_t LinearityCorrectiveGain) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000)) |
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Status = VL53L0X_ERROR_INVALID_PARAMS; |
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else {
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PALDevDataSet(Dev, LinearityCorrectiveGain, |
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LinearityCorrectiveGain); |
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if (LinearityCorrectiveGain != 1000) { |
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/* Disable FW Xtalk */
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Status = VL53L0X_WrWord(Dev, |
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VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0);
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} |
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} |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, |
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uint16_t *pLinearityCorrectiveGain) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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*pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, uint8_t GroupParamHold) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
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LOG_FUNCTION_START("");
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/* not implemented on VL53L0X */
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, |
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uint16_t *pUpperLimitMilliMeter) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
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LOG_FUNCTION_START("");
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/* not implemented on VL53L0X */
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, |
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FixPoint1616_t *pTotalSignalRate) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
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LOG_FUNCTION_START("");
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LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
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Status = VL53L0X_get_total_signal_rate( |
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Dev, &LastRangeDataBuffer, pTotalSignalRate); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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/* End Group PAL General Functions */
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/* Group PAL Init Functions */
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VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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LOG_FUNCTION_START("");
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Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, |
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DeviceAddress); // changed to not DeviceAddress/2
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//added
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Dev->I2cDevAddr = DeviceAddress; |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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VL53L0X_DeviceParameters_t CurrentParameters; |
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int i;
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uint8_t StopVariable; |
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LOG_FUNCTION_START("");
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/* by default the I2C is running at 1V8 if you want to change it you
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* need to include this define at compilation level. */
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#ifdef USE_I2C_2V8
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Status = VL53L0X_UpdateByte(Dev, |
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VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, |
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0xFE,
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0x01);
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#endif
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/* Set I2C standard mode */
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if (Status == VL53L0X_ERROR_NONE)
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Status = VL53L0X_WrByte(Dev, 0x88, 0x00); |
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|
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VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0);
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|
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#ifdef USE_IQC_STATION
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if (Status == VL53L0X_ERROR_NONE)
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Status = VL53L0X_apply_offset_adjustment(Dev); |
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#endif
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|
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/* Default value is 1000 for Linearity Corrective Gain */
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PALDevDataSet(Dev, LinearityCorrectiveGain, 1000);
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|
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/* Dmax default Parameter */
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PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
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PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
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(FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ |
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|
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/* Set Default static parameters
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*set first temporary values 9.44MHz * 65536 = 618660 */
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VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660);
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|
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/* Set Default XTalkCompensationRateMegaCps to 0 */
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VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0);
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|
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/* Get default parameters */
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Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
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if (Status == VL53L0X_ERROR_NONE) {
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/* initialize PAL values */
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CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; |
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CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED; |
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PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
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} |
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|
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/* Sigma estimator variable */
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PALDevDataSet(Dev, SigmaEstRefArray, 100);
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PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900);
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PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500);
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PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ |
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|
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/* Use internal default settings */
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PALDevDataSet(Dev, UseInternalTuningSettings, 1);
|
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|
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Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
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Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
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Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
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Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
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PALDevDataSet(Dev, StopVariable, StopVariable); |
| 448 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
| 449 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 450 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
| 451 |
|
| 452 |
/* Enable all check */
|
| 453 |
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
| 454 |
if (Status == VL53L0X_ERROR_NONE)
|
| 455 |
Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
|
| 456 |
else
|
| 457 |
break;
|
| 458 |
|
| 459 |
} |
| 460 |
|
| 461 |
/* Disable the following checks */
|
| 462 |
if (Status == VL53L0X_ERROR_NONE)
|
| 463 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
| 464 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
|
| 465 |
|
| 466 |
if (Status == VL53L0X_ERROR_NONE)
|
| 467 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
| 468 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
|
| 469 |
|
| 470 |
if (Status == VL53L0X_ERROR_NONE)
|
| 471 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
| 472 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
|
| 473 |
|
| 474 |
if (Status == VL53L0X_ERROR_NONE)
|
| 475 |
Status = VL53L0X_SetLimitCheckEnable(Dev, |
| 476 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
|
| 477 |
|
| 478 |
/* Limit default values */
|
| 479 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 480 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
| 481 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 482 |
(FixPoint1616_t)(18 * 65536)); |
| 483 |
} |
| 484 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 485 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
| 486 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 487 |
(FixPoint1616_t)(25 * 65536 / 100)); |
| 488 |
/* 0.25 * 65536 */
|
| 489 |
} |
| 490 |
|
| 491 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 492 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
| 493 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
| 494 |
(FixPoint1616_t)(35 * 65536)); |
| 495 |
} |
| 496 |
|
| 497 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 498 |
Status = VL53L0X_SetLimitCheckValue(Dev, |
| 499 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
| 500 |
(FixPoint1616_t)(0 * 65536)); |
| 501 |
} |
| 502 |
|
| 503 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 504 |
|
| 505 |
PALDevDataSet(Dev, SequenceConfig, 0xFF);
|
| 506 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
| 507 |
0xFF);
|
| 508 |
|
| 509 |
/* Set PAL state to tell that we are waiting for call to
|
| 510 |
* VL53L0X_StaticInit */
|
| 511 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); |
| 512 |
} |
| 513 |
|
| 514 |
if (Status == VL53L0X_ERROR_NONE)
|
| 515 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0);
|
| 516 |
|
| 517 |
|
| 518 |
LOG_FUNCTION_END(Status); |
| 519 |
return Status;
|
| 520 |
} |
| 521 |
|
| 522 |
VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, |
| 523 |
uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings) |
| 524 |
{
|
| 525 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 526 |
|
| 527 |
LOG_FUNCTION_START("");
|
| 528 |
|
| 529 |
if (UseInternalTuningSettings == 1) { |
| 530 |
/* Force use internal settings */
|
| 531 |
PALDevDataSet(Dev, UseInternalTuningSettings, 1);
|
| 532 |
} else {
|
| 533 |
|
| 534 |
/* check that the first byte is not 0 */
|
| 535 |
if (*pTuningSettingBuffer != 0) { |
| 536 |
PALDevDataSet(Dev, pTuningSettingsPointer, |
| 537 |
pTuningSettingBuffer); |
| 538 |
PALDevDataSet(Dev, UseInternalTuningSettings, 0);
|
| 539 |
|
| 540 |
} else {
|
| 541 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 542 |
} |
| 543 |
} |
| 544 |
|
| 545 |
LOG_FUNCTION_END(Status); |
| 546 |
return Status;
|
| 547 |
} |
| 548 |
|
| 549 |
VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, |
| 550 |
uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings) |
| 551 |
{
|
| 552 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 553 |
|
| 554 |
LOG_FUNCTION_START("");
|
| 555 |
|
| 556 |
*ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer); |
| 557 |
*pUseInternalTuningSettings = PALDevDataGet(Dev, |
| 558 |
UseInternalTuningSettings); |
| 559 |
|
| 560 |
LOG_FUNCTION_END(Status); |
| 561 |
return Status;
|
| 562 |
} |
| 563 |
|
| 564 |
VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev) |
| 565 |
{
|
| 566 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 567 |
VL53L0X_DeviceParameters_t CurrentParameters = {0};
|
| 568 |
uint8_t *pTuningSettingBuffer; |
| 569 |
uint16_t tempword = 0;
|
| 570 |
uint8_t tempbyte = 0;
|
| 571 |
uint8_t UseInternalTuningSettings = 0;
|
| 572 |
uint32_t count = 0;
|
| 573 |
uint8_t isApertureSpads = 0;
|
| 574 |
uint32_t refSpadCount = 0;
|
| 575 |
uint8_t ApertureSpads = 0;
|
| 576 |
uint8_t vcselPulsePeriodPCLK; |
| 577 |
uint32_t seqTimeoutMicroSecs; |
| 578 |
|
| 579 |
LOG_FUNCTION_START("");
|
| 580 |
|
| 581 |
Status = VL53L0X_get_info_from_device(Dev, 1);
|
| 582 |
|
| 583 |
/* set the ref spad from NVM */
|
| 584 |
count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
| 585 |
ReferenceSpadCount); |
| 586 |
ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
| 587 |
ReferenceSpadType); |
| 588 |
|
| 589 |
/* NVM value invalid */
|
| 590 |
if ((ApertureSpads > 1) || |
| 591 |
((ApertureSpads == 1) && (count > 32)) || |
| 592 |
((ApertureSpads == 0) && (count > 12))) |
| 593 |
Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount, |
| 594 |
&isApertureSpads); |
| 595 |
else
|
| 596 |
Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads); |
| 597 |
|
| 598 |
|
| 599 |
/* Initialize tuning settings buffer to prevent compiler warning. */
|
| 600 |
pTuningSettingBuffer = DefaultTuningSettings; |
| 601 |
|
| 602 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 603 |
UseInternalTuningSettings = PALDevDataGet(Dev, |
| 604 |
UseInternalTuningSettings); |
| 605 |
|
| 606 |
if (UseInternalTuningSettings == 0) |
| 607 |
pTuningSettingBuffer = PALDevDataGet(Dev, |
| 608 |
pTuningSettingsPointer); |
| 609 |
else
|
| 610 |
pTuningSettingBuffer = DefaultTuningSettings; |
| 611 |
|
| 612 |
} |
| 613 |
|
| 614 |
if (Status == VL53L0X_ERROR_NONE)
|
| 615 |
Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer); |
| 616 |
|
| 617 |
|
| 618 |
/* Set interrupt config to new sample ready */
|
| 619 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 620 |
Status = VL53L0X_SetGpioConfig(Dev, 0, 0, |
| 621 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
| 622 |
VL53L0X_INTERRUPTPOLARITY_LOW); |
| 623 |
} |
| 624 |
|
| 625 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 626 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 627 |
Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
|
| 628 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 629 |
} |
| 630 |
|
| 631 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 632 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, |
| 633 |
VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); |
| 634 |
} |
| 635 |
|
| 636 |
/* After static init, some device parameters may be changed,
|
| 637 |
* so update them */
|
| 638 |
if (Status == VL53L0X_ERROR_NONE)
|
| 639 |
Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
| 640 |
|
| 641 |
|
| 642 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 643 |
Status = VL53L0X_GetFractionEnable(Dev, &tempbyte); |
| 644 |
if (Status == VL53L0X_ERROR_NONE)
|
| 645 |
PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); |
| 646 |
|
| 647 |
} |
| 648 |
|
| 649 |
if (Status == VL53L0X_ERROR_NONE)
|
| 650 |
PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
| 651 |
|
| 652 |
|
| 653 |
/* read the sequence config and save it */
|
| 654 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 655 |
Status = VL53L0X_RdByte(Dev, |
| 656 |
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); |
| 657 |
if (Status == VL53L0X_ERROR_NONE)
|
| 658 |
PALDevDataSet(Dev, SequenceConfig, tempbyte); |
| 659 |
|
| 660 |
} |
| 661 |
|
| 662 |
/* Disable MSRC and TCC by default */
|
| 663 |
if (Status == VL53L0X_ERROR_NONE)
|
| 664 |
Status = VL53L0X_SetSequenceStepEnable(Dev, |
| 665 |
VL53L0X_SEQUENCESTEP_TCC, 0);
|
| 666 |
|
| 667 |
|
| 668 |
if (Status == VL53L0X_ERROR_NONE)
|
| 669 |
Status = VL53L0X_SetSequenceStepEnable(Dev, |
| 670 |
VL53L0X_SEQUENCESTEP_MSRC, 0);
|
| 671 |
|
| 672 |
|
| 673 |
/* Set PAL State to standby */
|
| 674 |
if (Status == VL53L0X_ERROR_NONE)
|
| 675 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
| 676 |
|
| 677 |
|
| 678 |
|
| 679 |
/* Store pre-range vcsel period */
|
| 680 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 681 |
Status = VL53L0X_GetVcselPulsePeriod( |
| 682 |
Dev, |
| 683 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 684 |
&vcselPulsePeriodPCLK); |
| 685 |
} |
| 686 |
|
| 687 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 688 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 689 |
Dev, |
| 690 |
PreRangeVcselPulsePeriod, |
| 691 |
vcselPulsePeriodPCLK); |
| 692 |
} |
| 693 |
|
| 694 |
/* Store final-range vcsel period */
|
| 695 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 696 |
Status = VL53L0X_GetVcselPulsePeriod( |
| 697 |
Dev, |
| 698 |
VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
| 699 |
&vcselPulsePeriodPCLK); |
| 700 |
} |
| 701 |
|
| 702 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 703 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 704 |
Dev, |
| 705 |
FinalRangeVcselPulsePeriod, |
| 706 |
vcselPulsePeriodPCLK); |
| 707 |
} |
| 708 |
|
| 709 |
/* Store pre-range timeout */
|
| 710 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 711 |
Status = get_sequence_step_timeout( |
| 712 |
Dev, |
| 713 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, |
| 714 |
&seqTimeoutMicroSecs); |
| 715 |
} |
| 716 |
|
| 717 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 718 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 719 |
Dev, |
| 720 |
PreRangeTimeoutMicroSecs, |
| 721 |
seqTimeoutMicroSecs); |
| 722 |
} |
| 723 |
|
| 724 |
/* Store final-range timeout */
|
| 725 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 726 |
Status = get_sequence_step_timeout( |
| 727 |
Dev, |
| 728 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
| 729 |
&seqTimeoutMicroSecs); |
| 730 |
} |
| 731 |
|
| 732 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 733 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 734 |
Dev, |
| 735 |
FinalRangeTimeoutMicroSecs, |
| 736 |
seqTimeoutMicroSecs); |
| 737 |
} |
| 738 |
|
| 739 |
LOG_FUNCTION_END(Status); |
| 740 |
return Status;
|
| 741 |
} |
| 742 |
|
| 743 |
VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev) |
| 744 |
{
|
| 745 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 746 |
LOG_FUNCTION_START("");
|
| 747 |
|
| 748 |
/* not implemented on VL53L0X */
|
| 749 |
|
| 750 |
LOG_FUNCTION_END(Status); |
| 751 |
return Status;
|
| 752 |
} |
| 753 |
|
| 754 |
VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev) |
| 755 |
{
|
| 756 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 757 |
uint8_t Byte; |
| 758 |
LOG_FUNCTION_START("");
|
| 759 |
|
| 760 |
/* Set reset bit */
|
| 761 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, |
| 762 |
0x00);
|
| 763 |
|
| 764 |
/* Wait for some time */
|
| 765 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 766 |
do {
|
| 767 |
Status = VL53L0X_RdByte(Dev, |
| 768 |
VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); |
| 769 |
} while (Byte != 0x00); |
| 770 |
} |
| 771 |
|
| 772 |
//VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
|
| 773 |
|
| 774 |
/* Release reset */
|
| 775 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, |
| 776 |
0x01);
|
| 777 |
|
| 778 |
/* Wait until correct boot-up of the device */
|
| 779 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 780 |
do {
|
| 781 |
Status = VL53L0X_RdByte(Dev, |
| 782 |
VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); |
| 783 |
} while (Byte == 0x00); |
| 784 |
} |
| 785 |
|
| 786 |
//VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
|
| 787 |
|
| 788 |
/* Set PAL State to VL53L0X_STATE_POWERDOWN */
|
| 789 |
if (Status == VL53L0X_ERROR_NONE)
|
| 790 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_POWERDOWN); |
| 791 |
|
| 792 |
|
| 793 |
LOG_FUNCTION_END(Status); |
| 794 |
return Status;
|
| 795 |
} |
| 796 |
/* End Group PAL Init Functions */
|
| 797 |
|
| 798 |
/* Group PAL Parameters Functions */
|
| 799 |
VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, |
| 800 |
const VL53L0X_DeviceParameters_t *pDeviceParameters)
|
| 801 |
{
|
| 802 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 803 |
int i;
|
| 804 |
LOG_FUNCTION_START("");
|
| 805 |
Status = VL53L0X_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); |
| 806 |
|
| 807 |
if (Status == VL53L0X_ERROR_NONE)
|
| 808 |
Status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(Dev, |
| 809 |
pDeviceParameters->InterMeasurementPeriodMilliSeconds); |
| 810 |
|
| 811 |
|
| 812 |
if (Status == VL53L0X_ERROR_NONE)
|
| 813 |
Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, |
| 814 |
pDeviceParameters->XTalkCompensationRateMegaCps); |
| 815 |
|
| 816 |
|
| 817 |
if (Status == VL53L0X_ERROR_NONE)
|
| 818 |
Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, |
| 819 |
pDeviceParameters->RangeOffsetMicroMeters); |
| 820 |
|
| 821 |
|
| 822 |
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
| 823 |
if (Status == VL53L0X_ERROR_NONE)
|
| 824 |
Status |= VL53L0X_SetLimitCheckEnable(Dev, i, |
| 825 |
pDeviceParameters->LimitChecksEnable[i]); |
| 826 |
else
|
| 827 |
break;
|
| 828 |
|
| 829 |
if (Status == VL53L0X_ERROR_NONE)
|
| 830 |
Status |= VL53L0X_SetLimitCheckValue(Dev, i, |
| 831 |
pDeviceParameters->LimitChecksValue[i]); |
| 832 |
else
|
| 833 |
break;
|
| 834 |
|
| 835 |
} |
| 836 |
|
| 837 |
if (Status == VL53L0X_ERROR_NONE)
|
| 838 |
Status = VL53L0X_SetWrapAroundCheckEnable(Dev, |
| 839 |
pDeviceParameters->WrapAroundCheckEnable); |
| 840 |
|
| 841 |
if (Status == VL53L0X_ERROR_NONE)
|
| 842 |
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
| 843 |
pDeviceParameters->MeasurementTimingBudgetMicroSeconds); |
| 844 |
|
| 845 |
|
| 846 |
LOG_FUNCTION_END(Status); |
| 847 |
return Status;
|
| 848 |
} |
| 849 |
|
| 850 |
VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, |
| 851 |
VL53L0X_DeviceParameters_t *pDeviceParameters) |
| 852 |
{
|
| 853 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 854 |
int i;
|
| 855 |
|
| 856 |
LOG_FUNCTION_START("");
|
| 857 |
|
| 858 |
Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); |
| 859 |
|
| 860 |
if (Status == VL53L0X_ERROR_NONE)
|
| 861 |
Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev, |
| 862 |
&(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); |
| 863 |
|
| 864 |
|
| 865 |
if (Status == VL53L0X_ERROR_NONE)
|
| 866 |
pDeviceParameters->XTalkCompensationEnable = 0;
|
| 867 |
|
| 868 |
if (Status == VL53L0X_ERROR_NONE)
|
| 869 |
Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev, |
| 870 |
&(pDeviceParameters->XTalkCompensationRateMegaCps)); |
| 871 |
|
| 872 |
|
| 873 |
if (Status == VL53L0X_ERROR_NONE)
|
| 874 |
Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, |
| 875 |
&(pDeviceParameters->RangeOffsetMicroMeters)); |
| 876 |
|
| 877 |
|
| 878 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 879 |
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
| 880 |
/* get first the values, then the enables.
|
| 881 |
* VL53L0X_GetLimitCheckValue will modify the enable
|
| 882 |
* flags
|
| 883 |
*/
|
| 884 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 885 |
Status |= VL53L0X_GetLimitCheckValue(Dev, i, |
| 886 |
&(pDeviceParameters->LimitChecksValue[i])); |
| 887 |
} else {
|
| 888 |
break;
|
| 889 |
} |
| 890 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 891 |
Status |= VL53L0X_GetLimitCheckEnable(Dev, i, |
| 892 |
&(pDeviceParameters->LimitChecksEnable[i])); |
| 893 |
} else {
|
| 894 |
break;
|
| 895 |
} |
| 896 |
} |
| 897 |
} |
| 898 |
|
| 899 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 900 |
Status = VL53L0X_GetWrapAroundCheckEnable(Dev, |
| 901 |
&(pDeviceParameters->WrapAroundCheckEnable)); |
| 902 |
} |
| 903 |
|
| 904 |
/* Need to be done at the end as it uses VCSELPulsePeriod */
|
| 905 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 906 |
Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev, |
| 907 |
&(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); |
| 908 |
} |
| 909 |
|
| 910 |
LOG_FUNCTION_END(Status); |
| 911 |
return Status;
|
| 912 |
} |
| 913 |
|
| 914 |
VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode) |
| 915 |
{
|
| 916 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 917 |
|
| 918 |
LOG_FUNCTION_START("%d", (int)DeviceMode); |
| 919 |
|
| 920 |
switch (DeviceMode) {
|
| 921 |
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
|
| 922 |
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
|
| 923 |
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
|
| 924 |
case VL53L0X_DEVICEMODE_GPIO_DRIVE:
|
| 925 |
case VL53L0X_DEVICEMODE_GPIO_OSC:
|
| 926 |
/* Supported modes */
|
| 927 |
VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); |
| 928 |
break;
|
| 929 |
default:
|
| 930 |
/* Unsupported mode */
|
| 931 |
Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
| 932 |
} |
| 933 |
|
| 934 |
LOG_FUNCTION_END(Status); |
| 935 |
return Status;
|
| 936 |
} |
| 937 |
|
| 938 |
VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, |
| 939 |
VL53L0X_DeviceModes *pDeviceMode) |
| 940 |
{
|
| 941 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 942 |
LOG_FUNCTION_START("");
|
| 943 |
|
| 944 |
VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); |
| 945 |
|
| 946 |
LOG_FUNCTION_END(Status); |
| 947 |
return Status;
|
| 948 |
} |
| 949 |
|
| 950 |
VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, uint8_t Enable) |
| 951 |
{
|
| 952 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 953 |
|
| 954 |
LOG_FUNCTION_START("%d", (int)Enable); |
| 955 |
|
| 956 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, Enable); |
| 957 |
|
| 958 |
if (Status == VL53L0X_ERROR_NONE)
|
| 959 |
PALDevDataSet(Dev, RangeFractionalEnable, Enable); |
| 960 |
|
| 961 |
LOG_FUNCTION_END(Status); |
| 962 |
return Status;
|
| 963 |
} |
| 964 |
|
| 965 |
VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled) |
| 966 |
{
|
| 967 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 968 |
LOG_FUNCTION_START("");
|
| 969 |
|
| 970 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled); |
| 971 |
|
| 972 |
if (Status == VL53L0X_ERROR_NONE)
|
| 973 |
*pEnabled = (*pEnabled & 1);
|
| 974 |
|
| 975 |
LOG_FUNCTION_END(Status); |
| 976 |
return Status;
|
| 977 |
} |
| 978 |
|
| 979 |
VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, |
| 980 |
VL53L0X_HistogramModes HistogramMode) |
| 981 |
{
|
| 982 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 983 |
LOG_FUNCTION_START("");
|
| 984 |
|
| 985 |
/* not implemented on VL53L0X */
|
| 986 |
|
| 987 |
LOG_FUNCTION_END(Status); |
| 988 |
return Status;
|
| 989 |
} |
| 990 |
|
| 991 |
VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, |
| 992 |
VL53L0X_HistogramModes *pHistogramMode) |
| 993 |
{
|
| 994 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 995 |
LOG_FUNCTION_START("");
|
| 996 |
|
| 997 |
/* not implemented on VL53L0X */
|
| 998 |
|
| 999 |
LOG_FUNCTION_END(Status); |
| 1000 |
return Status;
|
| 1001 |
} |
| 1002 |
|
| 1003 |
VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
| 1004 |
uint32_t MeasurementTimingBudgetMicroSeconds) |
| 1005 |
{
|
| 1006 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1007 |
LOG_FUNCTION_START("");
|
| 1008 |
|
| 1009 |
Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev, |
| 1010 |
MeasurementTimingBudgetMicroSeconds); |
| 1011 |
|
| 1012 |
LOG_FUNCTION_END(Status); |
| 1013 |
|
| 1014 |
return Status;
|
| 1015 |
} |
| 1016 |
|
| 1017 |
VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
| 1018 |
uint32_t *pMeasurementTimingBudgetMicroSeconds) |
| 1019 |
{
|
| 1020 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1021 |
LOG_FUNCTION_START("");
|
| 1022 |
|
| 1023 |
Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev, |
| 1024 |
pMeasurementTimingBudgetMicroSeconds); |
| 1025 |
|
| 1026 |
LOG_FUNCTION_END(Status); |
| 1027 |
return Status;
|
| 1028 |
} |
| 1029 |
|
| 1030 |
VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, |
| 1031 |
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) |
| 1032 |
{
|
| 1033 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1034 |
LOG_FUNCTION_START("");
|
| 1035 |
|
| 1036 |
Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType, |
| 1037 |
VCSELPulsePeriodPCLK); |
| 1038 |
|
| 1039 |
LOG_FUNCTION_END(Status); |
| 1040 |
return Status;
|
| 1041 |
} |
| 1042 |
|
| 1043 |
VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, |
| 1044 |
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) |
| 1045 |
{
|
| 1046 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1047 |
LOG_FUNCTION_START("");
|
| 1048 |
|
| 1049 |
Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType, |
| 1050 |
pVCSELPulsePeriodPCLK); |
| 1051 |
|
| 1052 |
LOG_FUNCTION_END(Status); |
| 1053 |
return Status;
|
| 1054 |
} |
| 1055 |
|
| 1056 |
VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, |
| 1057 |
VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) |
| 1058 |
{
|
| 1059 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1060 |
uint8_t SequenceConfig = 0;
|
| 1061 |
uint8_t SequenceConfigNew = 0;
|
| 1062 |
uint32_t MeasurementTimingBudgetMicroSeconds; |
| 1063 |
LOG_FUNCTION_START("");
|
| 1064 |
|
| 1065 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
| 1066 |
&SequenceConfig); |
| 1067 |
|
| 1068 |
SequenceConfigNew = SequenceConfig; |
| 1069 |
|
| 1070 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1071 |
if (SequenceStepEnabled == 1) { |
| 1072 |
|
| 1073 |
/* Enable requested sequence step
|
| 1074 |
*/
|
| 1075 |
switch (SequenceStepId) {
|
| 1076 |
case VL53L0X_SEQUENCESTEP_TCC:
|
| 1077 |
SequenceConfigNew |= 0x10;
|
| 1078 |
break;
|
| 1079 |
case VL53L0X_SEQUENCESTEP_DSS:
|
| 1080 |
SequenceConfigNew |= 0x28;
|
| 1081 |
break;
|
| 1082 |
case VL53L0X_SEQUENCESTEP_MSRC:
|
| 1083 |
SequenceConfigNew |= 0x04;
|
| 1084 |
break;
|
| 1085 |
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
| 1086 |
SequenceConfigNew |= 0x40;
|
| 1087 |
break;
|
| 1088 |
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
| 1089 |
SequenceConfigNew |= 0x80;
|
| 1090 |
break;
|
| 1091 |
default:
|
| 1092 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1093 |
} |
| 1094 |
} else {
|
| 1095 |
/* Disable requested sequence step
|
| 1096 |
*/
|
| 1097 |
switch (SequenceStepId) {
|
| 1098 |
case VL53L0X_SEQUENCESTEP_TCC:
|
| 1099 |
SequenceConfigNew &= 0xef;
|
| 1100 |
break;
|
| 1101 |
case VL53L0X_SEQUENCESTEP_DSS:
|
| 1102 |
SequenceConfigNew &= 0xd7;
|
| 1103 |
break;
|
| 1104 |
case VL53L0X_SEQUENCESTEP_MSRC:
|
| 1105 |
SequenceConfigNew &= 0xfb;
|
| 1106 |
break;
|
| 1107 |
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
| 1108 |
SequenceConfigNew &= 0xbf;
|
| 1109 |
break;
|
| 1110 |
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
| 1111 |
SequenceConfigNew &= 0x7f;
|
| 1112 |
break;
|
| 1113 |
default:
|
| 1114 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1115 |
} |
| 1116 |
} |
| 1117 |
} |
| 1118 |
|
| 1119 |
if (SequenceConfigNew != SequenceConfig) {
|
| 1120 |
/* Apply New Setting */
|
| 1121 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1122 |
Status = VL53L0X_WrByte(Dev, |
| 1123 |
VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); |
| 1124 |
} |
| 1125 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1126 |
PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); |
| 1127 |
|
| 1128 |
|
| 1129 |
/* Recalculate timing budget */
|
| 1130 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1131 |
VL53L0X_GETPARAMETERFIELD(Dev, |
| 1132 |
MeasurementTimingBudgetMicroSeconds, |
| 1133 |
MeasurementTimingBudgetMicroSeconds); |
| 1134 |
|
| 1135 |
VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
| 1136 |
MeasurementTimingBudgetMicroSeconds); |
| 1137 |
} |
| 1138 |
} |
| 1139 |
|
| 1140 |
LOG_FUNCTION_END(Status); |
| 1141 |
|
| 1142 |
return Status;
|
| 1143 |
} |
| 1144 |
|
| 1145 |
VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev, |
| 1146 |
VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig, |
| 1147 |
uint8_t *pSequenceStepEnabled) |
| 1148 |
{
|
| 1149 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1150 |
*pSequenceStepEnabled = 0;
|
| 1151 |
LOG_FUNCTION_START("");
|
| 1152 |
|
| 1153 |
switch (SequenceStepId) {
|
| 1154 |
case VL53L0X_SEQUENCESTEP_TCC:
|
| 1155 |
*pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; |
| 1156 |
break;
|
| 1157 |
case VL53L0X_SEQUENCESTEP_DSS:
|
| 1158 |
*pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; |
| 1159 |
break;
|
| 1160 |
case VL53L0X_SEQUENCESTEP_MSRC:
|
| 1161 |
*pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; |
| 1162 |
break;
|
| 1163 |
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
| 1164 |
*pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; |
| 1165 |
break;
|
| 1166 |
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
| 1167 |
*pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; |
| 1168 |
break;
|
| 1169 |
default:
|
| 1170 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1171 |
} |
| 1172 |
|
| 1173 |
LOG_FUNCTION_END(Status); |
| 1174 |
return Status;
|
| 1175 |
} |
| 1176 |
|
| 1177 |
VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, |
| 1178 |
VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) |
| 1179 |
{
|
| 1180 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1181 |
uint8_t SequenceConfig = 0;
|
| 1182 |
LOG_FUNCTION_START("");
|
| 1183 |
|
| 1184 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
| 1185 |
&SequenceConfig); |
| 1186 |
|
| 1187 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1188 |
Status = sequence_step_enabled(Dev, SequenceStepId, |
| 1189 |
SequenceConfig, pSequenceStepEnabled); |
| 1190 |
} |
| 1191 |
|
| 1192 |
LOG_FUNCTION_END(Status); |
| 1193 |
return Status;
|
| 1194 |
} |
| 1195 |
|
| 1196 |
VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, |
| 1197 |
VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) |
| 1198 |
{
|
| 1199 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1200 |
uint8_t SequenceConfig = 0;
|
| 1201 |
LOG_FUNCTION_START("");
|
| 1202 |
|
| 1203 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
| 1204 |
&SequenceConfig); |
| 1205 |
|
| 1206 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1207 |
Status = sequence_step_enabled(Dev, |
| 1208 |
VL53L0X_SEQUENCESTEP_TCC, SequenceConfig, |
| 1209 |
&pSchedulerSequenceSteps->TccOn); |
| 1210 |
} |
| 1211 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1212 |
Status = sequence_step_enabled(Dev, |
| 1213 |
VL53L0X_SEQUENCESTEP_DSS, SequenceConfig, |
| 1214 |
&pSchedulerSequenceSteps->DssOn); |
| 1215 |
} |
| 1216 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1217 |
Status = sequence_step_enabled(Dev, |
| 1218 |
VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig, |
| 1219 |
&pSchedulerSequenceSteps->MsrcOn); |
| 1220 |
} |
| 1221 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1222 |
Status = sequence_step_enabled(Dev, |
| 1223 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig, |
| 1224 |
&pSchedulerSequenceSteps->PreRangeOn); |
| 1225 |
} |
| 1226 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1227 |
Status = sequence_step_enabled(Dev, |
| 1228 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, |
| 1229 |
&pSchedulerSequenceSteps->FinalRangeOn); |
| 1230 |
} |
| 1231 |
|
| 1232 |
LOG_FUNCTION_END(Status); |
| 1233 |
return Status;
|
| 1234 |
} |
| 1235 |
|
| 1236 |
VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, |
| 1237 |
uint8_t *pNumberOfSequenceSteps) |
| 1238 |
{
|
| 1239 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1240 |
LOG_FUNCTION_START("");
|
| 1241 |
|
| 1242 |
*pNumberOfSequenceSteps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS; |
| 1243 |
|
| 1244 |
LOG_FUNCTION_END(Status); |
| 1245 |
return Status;
|
| 1246 |
} |
| 1247 |
|
| 1248 |
VL53L0X_Error VL53L0X_GetSequenceStepsInfo(VL53L0X_SequenceStepId SequenceStepId, |
| 1249 |
char *pSequenceStepsString)
|
| 1250 |
{
|
| 1251 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1252 |
LOG_FUNCTION_START("");
|
| 1253 |
|
| 1254 |
Status = VL53L0X_get_sequence_steps_info( |
| 1255 |
SequenceStepId, |
| 1256 |
pSequenceStepsString); |
| 1257 |
|
| 1258 |
LOG_FUNCTION_END(Status); |
| 1259 |
|
| 1260 |
return Status;
|
| 1261 |
} |
| 1262 |
|
| 1263 |
VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, |
| 1264 |
VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs) |
| 1265 |
{
|
| 1266 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1267 |
VL53L0X_Error Status1 = VL53L0X_ERROR_NONE; |
| 1268 |
uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000) |
| 1269 |
>> 16;
|
| 1270 |
uint32_t MeasurementTimingBudgetMicroSeconds; |
| 1271 |
FixPoint1616_t OldTimeOutMicroSeconds; |
| 1272 |
|
| 1273 |
LOG_FUNCTION_START("");
|
| 1274 |
|
| 1275 |
/* Read back the current value in case we need to revert back to this.
|
| 1276 |
*/
|
| 1277 |
Status = get_sequence_step_timeout(Dev, SequenceStepId, |
| 1278 |
&OldTimeOutMicroSeconds); |
| 1279 |
|
| 1280 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1281 |
Status = set_sequence_step_timeout(Dev, SequenceStepId, |
| 1282 |
TimeoutMicroSeconds); |
| 1283 |
} |
| 1284 |
|
| 1285 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1286 |
VL53L0X_GETPARAMETERFIELD(Dev, |
| 1287 |
MeasurementTimingBudgetMicroSeconds, |
| 1288 |
MeasurementTimingBudgetMicroSeconds); |
| 1289 |
|
| 1290 |
/* At this point we don't know if the requested value is valid,
|
| 1291 |
therefore proceed to update the entire timing budget and
|
| 1292 |
if this fails, revert back to the previous value.
|
| 1293 |
*/
|
| 1294 |
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
| 1295 |
MeasurementTimingBudgetMicroSeconds); |
| 1296 |
|
| 1297 |
if (Status != VL53L0X_ERROR_NONE) {
|
| 1298 |
Status1 = set_sequence_step_timeout(Dev, SequenceStepId, |
| 1299 |
OldTimeOutMicroSeconds); |
| 1300 |
|
| 1301 |
if (Status1 == VL53L0X_ERROR_NONE) {
|
| 1302 |
Status1 = |
| 1303 |
VL53L0X_SetMeasurementTimingBudgetMicroSeconds( |
| 1304 |
Dev, |
| 1305 |
MeasurementTimingBudgetMicroSeconds); |
| 1306 |
} |
| 1307 |
|
| 1308 |
Status = Status1; |
| 1309 |
} |
| 1310 |
} |
| 1311 |
|
| 1312 |
LOG_FUNCTION_END(Status); |
| 1313 |
|
| 1314 |
return Status;
|
| 1315 |
} |
| 1316 |
|
| 1317 |
VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, |
| 1318 |
VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t *pTimeOutMilliSecs) |
| 1319 |
{
|
| 1320 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1321 |
uint32_t TimeoutMicroSeconds; |
| 1322 |
LOG_FUNCTION_START("");
|
| 1323 |
|
| 1324 |
Status = get_sequence_step_timeout(Dev, SequenceStepId, |
| 1325 |
&TimeoutMicroSeconds); |
| 1326 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1327 |
TimeoutMicroSeconds <<= 8;
|
| 1328 |
*pTimeOutMilliSecs = (TimeoutMicroSeconds + 500)/1000; |
| 1329 |
*pTimeOutMilliSecs <<= 8;
|
| 1330 |
} |
| 1331 |
|
| 1332 |
LOG_FUNCTION_END(Status); |
| 1333 |
return Status;
|
| 1334 |
} |
| 1335 |
|
| 1336 |
VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
| 1337 |
uint32_t InterMeasurementPeriodMilliSeconds) |
| 1338 |
{
|
| 1339 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1340 |
uint16_t osc_calibrate_val; |
| 1341 |
uint32_t IMPeriodMilliSeconds; |
| 1342 |
|
| 1343 |
LOG_FUNCTION_START("");
|
| 1344 |
|
| 1345 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
| 1346 |
&osc_calibrate_val); |
| 1347 |
|
| 1348 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1349 |
if (osc_calibrate_val != 0) { |
| 1350 |
IMPeriodMilliSeconds = |
| 1351 |
InterMeasurementPeriodMilliSeconds |
| 1352 |
* osc_calibrate_val; |
| 1353 |
} else {
|
| 1354 |
IMPeriodMilliSeconds = |
| 1355 |
InterMeasurementPeriodMilliSeconds; |
| 1356 |
} |
| 1357 |
Status = VL53L0X_WrDWord(Dev, |
| 1358 |
VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
| 1359 |
IMPeriodMilliSeconds); |
| 1360 |
} |
| 1361 |
|
| 1362 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1363 |
VL53L0X_SETPARAMETERFIELD(Dev, |
| 1364 |
InterMeasurementPeriodMilliSeconds, |
| 1365 |
InterMeasurementPeriodMilliSeconds); |
| 1366 |
} |
| 1367 |
|
| 1368 |
LOG_FUNCTION_END(Status); |
| 1369 |
return Status;
|
| 1370 |
} |
| 1371 |
|
| 1372 |
VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
| 1373 |
uint32_t *pInterMeasurementPeriodMilliSeconds) |
| 1374 |
{
|
| 1375 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1376 |
uint16_t osc_calibrate_val; |
| 1377 |
uint32_t IMPeriodMilliSeconds; |
| 1378 |
|
| 1379 |
LOG_FUNCTION_START("");
|
| 1380 |
|
| 1381 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
| 1382 |
&osc_calibrate_val); |
| 1383 |
|
| 1384 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1385 |
Status = VL53L0X_RdDWord(Dev, |
| 1386 |
VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
| 1387 |
&IMPeriodMilliSeconds); |
| 1388 |
} |
| 1389 |
|
| 1390 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1391 |
if (osc_calibrate_val != 0) { |
| 1392 |
*pInterMeasurementPeriodMilliSeconds = |
| 1393 |
IMPeriodMilliSeconds / osc_calibrate_val; |
| 1394 |
} |
| 1395 |
VL53L0X_SETPARAMETERFIELD(Dev, |
| 1396 |
InterMeasurementPeriodMilliSeconds, |
| 1397 |
*pInterMeasurementPeriodMilliSeconds); |
| 1398 |
} |
| 1399 |
|
| 1400 |
LOG_FUNCTION_END(Status); |
| 1401 |
return Status;
|
| 1402 |
} |
| 1403 |
|
| 1404 |
VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, |
| 1405 |
uint8_t XTalkCompensationEnable) |
| 1406 |
{
|
| 1407 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1408 |
FixPoint1616_t TempFix1616; |
| 1409 |
uint16_t LinearityCorrectiveGain; |
| 1410 |
|
| 1411 |
LOG_FUNCTION_START("");
|
| 1412 |
|
| 1413 |
LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
| 1414 |
|
| 1415 |
if ((XTalkCompensationEnable == 0) |
| 1416 |
|| (LinearityCorrectiveGain != 1000)) {
|
| 1417 |
TempFix1616 = 0;
|
| 1418 |
} else {
|
| 1419 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
| 1420 |
TempFix1616); |
| 1421 |
} |
| 1422 |
|
| 1423 |
/* the following register has a format 3.13 */
|
| 1424 |
Status = VL53L0X_WrWord(Dev, |
| 1425 |
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, |
| 1426 |
VL53L0X_FIXPOINT1616TOFIXPOINT313(TempFix1616)); |
| 1427 |
|
| 1428 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1429 |
if (XTalkCompensationEnable == 0) { |
| 1430 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
| 1431 |
0);
|
| 1432 |
} else {
|
| 1433 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
| 1434 |
1);
|
| 1435 |
} |
| 1436 |
} |
| 1437 |
|
| 1438 |
LOG_FUNCTION_END(Status); |
| 1439 |
return Status;
|
| 1440 |
} |
| 1441 |
|
| 1442 |
VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, |
| 1443 |
uint8_t *pXTalkCompensationEnable) |
| 1444 |
{
|
| 1445 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1446 |
uint8_t Temp8; |
| 1447 |
LOG_FUNCTION_START("");
|
| 1448 |
|
| 1449 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
| 1450 |
*pXTalkCompensationEnable = Temp8; |
| 1451 |
|
| 1452 |
LOG_FUNCTION_END(Status); |
| 1453 |
return Status;
|
| 1454 |
} |
| 1455 |
|
| 1456 |
VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
| 1457 |
FixPoint1616_t XTalkCompensationRateMegaCps) |
| 1458 |
{
|
| 1459 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1460 |
uint8_t Temp8; |
| 1461 |
uint16_t LinearityCorrectiveGain; |
| 1462 |
uint16_t data; |
| 1463 |
LOG_FUNCTION_START("");
|
| 1464 |
|
| 1465 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
| 1466 |
LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
| 1467 |
|
| 1468 |
if (Temp8 == 0) { /* disabled write only internal value */ |
| 1469 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
| 1470 |
XTalkCompensationRateMegaCps); |
| 1471 |
} else {
|
| 1472 |
/* the following register has a format 3.13 */
|
| 1473 |
if (LinearityCorrectiveGain == 1000) { |
| 1474 |
data = VL53L0X_FIXPOINT1616TOFIXPOINT313( |
| 1475 |
XTalkCompensationRateMegaCps); |
| 1476 |
} else {
|
| 1477 |
data = 0;
|
| 1478 |
} |
| 1479 |
|
| 1480 |
Status = VL53L0X_WrWord(Dev, |
| 1481 |
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data); |
| 1482 |
|
| 1483 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1484 |
VL53L0X_SETPARAMETERFIELD(Dev, |
| 1485 |
XTalkCompensationRateMegaCps, |
| 1486 |
XTalkCompensationRateMegaCps); |
| 1487 |
} |
| 1488 |
} |
| 1489 |
|
| 1490 |
LOG_FUNCTION_END(Status); |
| 1491 |
return Status;
|
| 1492 |
} |
| 1493 |
|
| 1494 |
VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
| 1495 |
FixPoint1616_t *pXTalkCompensationRateMegaCps) |
| 1496 |
{
|
| 1497 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1498 |
uint16_t Value; |
| 1499 |
FixPoint1616_t TempFix1616; |
| 1500 |
|
| 1501 |
LOG_FUNCTION_START("");
|
| 1502 |
|
| 1503 |
Status = VL53L0X_RdWord(Dev, |
| 1504 |
VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); |
| 1505 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1506 |
if (Value == 0) { |
| 1507 |
/* the Xtalk is disabled return value from memory */
|
| 1508 |
VL53L0X_GETPARAMETERFIELD(Dev, |
| 1509 |
XTalkCompensationRateMegaCps, TempFix1616); |
| 1510 |
*pXTalkCompensationRateMegaCps = TempFix1616; |
| 1511 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
| 1512 |
0);
|
| 1513 |
} else {
|
| 1514 |
TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value); |
| 1515 |
*pXTalkCompensationRateMegaCps = TempFix1616; |
| 1516 |
VL53L0X_SETPARAMETERFIELD(Dev, |
| 1517 |
XTalkCompensationRateMegaCps, TempFix1616); |
| 1518 |
VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
| 1519 |
1);
|
| 1520 |
} |
| 1521 |
} |
| 1522 |
|
| 1523 |
LOG_FUNCTION_END(Status); |
| 1524 |
return Status;
|
| 1525 |
} |
| 1526 |
|
| 1527 |
VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, uint8_t VhvSettings, |
| 1528 |
uint8_t PhaseCal) |
| 1529 |
{
|
| 1530 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1531 |
LOG_FUNCTION_START("");
|
| 1532 |
|
| 1533 |
Status = VL53L0X_set_ref_calibration(Dev, VhvSettings, PhaseCal); |
| 1534 |
|
| 1535 |
LOG_FUNCTION_END(Status); |
| 1536 |
return Status;
|
| 1537 |
} |
| 1538 |
|
| 1539 |
VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
| 1540 |
uint8_t *pPhaseCal) |
| 1541 |
{
|
| 1542 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1543 |
LOG_FUNCTION_START("");
|
| 1544 |
|
| 1545 |
Status = VL53L0X_get_ref_calibration(Dev, pVhvSettings, pPhaseCal); |
| 1546 |
|
| 1547 |
LOG_FUNCTION_END(Status); |
| 1548 |
return Status;
|
| 1549 |
} |
| 1550 |
|
| 1551 |
/*
|
| 1552 |
* CHECK LIMIT FUNCTIONS
|
| 1553 |
*/
|
| 1554 |
|
| 1555 |
VL53L0X_Error VL53L0X_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) |
| 1556 |
{
|
| 1557 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1558 |
LOG_FUNCTION_START("");
|
| 1559 |
|
| 1560 |
*pNumberOfLimitCheck = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; |
| 1561 |
|
| 1562 |
LOG_FUNCTION_END(Status); |
| 1563 |
return Status;
|
| 1564 |
} |
| 1565 |
|
| 1566 |
VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1567 |
char *pLimitCheckString)
|
| 1568 |
{
|
| 1569 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1570 |
|
| 1571 |
LOG_FUNCTION_START("");
|
| 1572 |
|
| 1573 |
Status = VL53L0X_get_limit_check_info(Dev, LimitCheckId, |
| 1574 |
pLimitCheckString); |
| 1575 |
|
| 1576 |
LOG_FUNCTION_END(Status); |
| 1577 |
return Status;
|
| 1578 |
} |
| 1579 |
|
| 1580 |
VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1581 |
uint8_t *pLimitCheckStatus) |
| 1582 |
{
|
| 1583 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1584 |
uint8_t Temp8; |
| 1585 |
|
| 1586 |
LOG_FUNCTION_START("");
|
| 1587 |
|
| 1588 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1589 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1590 |
} else {
|
| 1591 |
|
| 1592 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 1593 |
LimitCheckId, Temp8); |
| 1594 |
|
| 1595 |
*pLimitCheckStatus = Temp8; |
| 1596 |
|
| 1597 |
} |
| 1598 |
|
| 1599 |
LOG_FUNCTION_END(Status); |
| 1600 |
return Status;
|
| 1601 |
} |
| 1602 |
|
| 1603 |
VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1604 |
uint8_t LimitCheckEnable) |
| 1605 |
{
|
| 1606 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1607 |
FixPoint1616_t TempFix1616 = 0;
|
| 1608 |
uint8_t LimitCheckEnableInt = 0;
|
| 1609 |
uint8_t LimitCheckDisable = 0;
|
| 1610 |
uint8_t Temp8; |
| 1611 |
|
| 1612 |
LOG_FUNCTION_START("");
|
| 1613 |
|
| 1614 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1615 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1616 |
} else {
|
| 1617 |
if (LimitCheckEnable == 0) { |
| 1618 |
TempFix1616 = 0;
|
| 1619 |
LimitCheckEnableInt = 0;
|
| 1620 |
LimitCheckDisable = 1;
|
| 1621 |
|
| 1622 |
} else {
|
| 1623 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1624 |
LimitCheckId, TempFix1616); |
| 1625 |
LimitCheckDisable = 0;
|
| 1626 |
/* this to be sure to have either 0 or 1 */
|
| 1627 |
LimitCheckEnableInt = 1;
|
| 1628 |
} |
| 1629 |
|
| 1630 |
switch (LimitCheckId) {
|
| 1631 |
|
| 1632 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
| 1633 |
/* internal computation: */
|
| 1634 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1635 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 1636 |
LimitCheckEnableInt); |
| 1637 |
|
| 1638 |
break;
|
| 1639 |
|
| 1640 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
| 1641 |
|
| 1642 |
Status = VL53L0X_WrWord(Dev, |
| 1643 |
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
| 1644 |
VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616)); |
| 1645 |
|
| 1646 |
break;
|
| 1647 |
|
| 1648 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
| 1649 |
|
| 1650 |
/* internal computation: */
|
| 1651 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1652 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
| 1653 |
LimitCheckEnableInt); |
| 1654 |
|
| 1655 |
break;
|
| 1656 |
|
| 1657 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
| 1658 |
|
| 1659 |
/* internal computation: */
|
| 1660 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1661 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
| 1662 |
LimitCheckEnableInt); |
| 1663 |
|
| 1664 |
break;
|
| 1665 |
|
| 1666 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
| 1667 |
|
| 1668 |
Temp8 = (uint8_t)(LimitCheckDisable << 1);
|
| 1669 |
Status = VL53L0X_UpdateByte(Dev, |
| 1670 |
VL53L0X_REG_MSRC_CONFIG_CONTROL, |
| 1671 |
0xFE, Temp8);
|
| 1672 |
|
| 1673 |
break;
|
| 1674 |
|
| 1675 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
| 1676 |
|
| 1677 |
Temp8 = (uint8_t)(LimitCheckDisable << 4);
|
| 1678 |
Status = VL53L0X_UpdateByte(Dev, |
| 1679 |
VL53L0X_REG_MSRC_CONFIG_CONTROL, |
| 1680 |
0xEF, Temp8);
|
| 1681 |
|
| 1682 |
break;
|
| 1683 |
|
| 1684 |
|
| 1685 |
default:
|
| 1686 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1687 |
|
| 1688 |
} |
| 1689 |
|
| 1690 |
} |
| 1691 |
|
| 1692 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1693 |
if (LimitCheckEnable == 0) { |
| 1694 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1695 |
LimitCheckId, 0);
|
| 1696 |
} else {
|
| 1697 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1698 |
LimitCheckId, 1);
|
| 1699 |
} |
| 1700 |
} |
| 1701 |
|
| 1702 |
LOG_FUNCTION_END(Status); |
| 1703 |
return Status;
|
| 1704 |
} |
| 1705 |
|
| 1706 |
VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1707 |
uint8_t *pLimitCheckEnable) |
| 1708 |
{
|
| 1709 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1710 |
uint8_t Temp8; |
| 1711 |
|
| 1712 |
LOG_FUNCTION_START("");
|
| 1713 |
|
| 1714 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1715 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1716 |
*pLimitCheckEnable = 0;
|
| 1717 |
} else {
|
| 1718 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1719 |
LimitCheckId, Temp8); |
| 1720 |
*pLimitCheckEnable = Temp8; |
| 1721 |
} |
| 1722 |
|
| 1723 |
LOG_FUNCTION_END(Status); |
| 1724 |
return Status;
|
| 1725 |
} |
| 1726 |
|
| 1727 |
VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1728 |
FixPoint1616_t LimitCheckValue) |
| 1729 |
{
|
| 1730 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1731 |
uint8_t Temp8; |
| 1732 |
|
| 1733 |
LOG_FUNCTION_START("");
|
| 1734 |
|
| 1735 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, |
| 1736 |
Temp8); |
| 1737 |
|
| 1738 |
if (Temp8 == 0) { /* disabled write only internal value */ |
| 1739 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1740 |
LimitCheckId, LimitCheckValue); |
| 1741 |
} else {
|
| 1742 |
|
| 1743 |
switch (LimitCheckId) {
|
| 1744 |
|
| 1745 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
| 1746 |
/* internal computation: */
|
| 1747 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1748 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 1749 |
LimitCheckValue); |
| 1750 |
break;
|
| 1751 |
|
| 1752 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
| 1753 |
|
| 1754 |
Status = VL53L0X_WrWord(Dev, |
| 1755 |
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
| 1756 |
VL53L0X_FIXPOINT1616TOFIXPOINT97( |
| 1757 |
LimitCheckValue)); |
| 1758 |
|
| 1759 |
break;
|
| 1760 |
|
| 1761 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
| 1762 |
|
| 1763 |
/* internal computation: */
|
| 1764 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1765 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
| 1766 |
LimitCheckValue); |
| 1767 |
|
| 1768 |
break;
|
| 1769 |
|
| 1770 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
| 1771 |
|
| 1772 |
/* internal computation: */
|
| 1773 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1774 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
| 1775 |
LimitCheckValue); |
| 1776 |
|
| 1777 |
break;
|
| 1778 |
|
| 1779 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
| 1780 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
| 1781 |
|
| 1782 |
Status = VL53L0X_WrWord(Dev, |
| 1783 |
VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
| 1784 |
VL53L0X_FIXPOINT1616TOFIXPOINT97( |
| 1785 |
LimitCheckValue)); |
| 1786 |
|
| 1787 |
break;
|
| 1788 |
|
| 1789 |
default:
|
| 1790 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1791 |
|
| 1792 |
} |
| 1793 |
|
| 1794 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1795 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1796 |
LimitCheckId, LimitCheckValue); |
| 1797 |
} |
| 1798 |
} |
| 1799 |
|
| 1800 |
LOG_FUNCTION_END(Status); |
| 1801 |
return Status;
|
| 1802 |
} |
| 1803 |
|
| 1804 |
VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1805 |
FixPoint1616_t *pLimitCheckValue) |
| 1806 |
{
|
| 1807 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1808 |
uint8_t EnableZeroValue = 0;
|
| 1809 |
uint16_t Temp16; |
| 1810 |
FixPoint1616_t TempFix1616; |
| 1811 |
|
| 1812 |
LOG_FUNCTION_START("");
|
| 1813 |
|
| 1814 |
switch (LimitCheckId) {
|
| 1815 |
|
| 1816 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
| 1817 |
/* internal computation: */
|
| 1818 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1819 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); |
| 1820 |
EnableZeroValue = 0;
|
| 1821 |
break;
|
| 1822 |
|
| 1823 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
| 1824 |
Status = VL53L0X_RdWord(Dev, |
| 1825 |
VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
| 1826 |
&Temp16); |
| 1827 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1828 |
TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
| 1829 |
|
| 1830 |
|
| 1831 |
EnableZeroValue = 1;
|
| 1832 |
break;
|
| 1833 |
|
| 1834 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
| 1835 |
/* internal computation: */
|
| 1836 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1837 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); |
| 1838 |
EnableZeroValue = 0;
|
| 1839 |
break;
|
| 1840 |
|
| 1841 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
| 1842 |
/* internal computation: */
|
| 1843 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1844 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616); |
| 1845 |
EnableZeroValue = 0;
|
| 1846 |
break;
|
| 1847 |
|
| 1848 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
| 1849 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
| 1850 |
Status = VL53L0X_RdWord(Dev, |
| 1851 |
VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
| 1852 |
&Temp16); |
| 1853 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1854 |
TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
| 1855 |
|
| 1856 |
|
| 1857 |
EnableZeroValue = 0;
|
| 1858 |
break;
|
| 1859 |
|
| 1860 |
default:
|
| 1861 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1862 |
|
| 1863 |
} |
| 1864 |
|
| 1865 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1866 |
|
| 1867 |
if (EnableZeroValue == 1) { |
| 1868 |
|
| 1869 |
if (TempFix1616 == 0) { |
| 1870 |
/* disabled: return value from memory */
|
| 1871 |
VL53L0X_GETARRAYPARAMETERFIELD(Dev, |
| 1872 |
LimitChecksValue, LimitCheckId, |
| 1873 |
TempFix1616); |
| 1874 |
*pLimitCheckValue = TempFix1616; |
| 1875 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
| 1876 |
LimitChecksEnable, LimitCheckId, 0);
|
| 1877 |
} else {
|
| 1878 |
*pLimitCheckValue = TempFix1616; |
| 1879 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
| 1880 |
LimitChecksValue, LimitCheckId, |
| 1881 |
TempFix1616); |
| 1882 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
| 1883 |
LimitChecksEnable, LimitCheckId, 1);
|
| 1884 |
} |
| 1885 |
} else {
|
| 1886 |
*pLimitCheckValue = TempFix1616; |
| 1887 |
} |
| 1888 |
} |
| 1889 |
|
| 1890 |
LOG_FUNCTION_END(Status); |
| 1891 |
return Status;
|
| 1892 |
|
| 1893 |
} |
| 1894 |
|
| 1895 |
VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
| 1896 |
FixPoint1616_t *pLimitCheckCurrent) |
| 1897 |
{
|
| 1898 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1899 |
VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
| 1900 |
|
| 1901 |
LOG_FUNCTION_START("");
|
| 1902 |
|
| 1903 |
|
| 1904 |
|
| 1905 |
if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1906 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1907 |
} else {
|
| 1908 |
|
| 1909 |
switch (LimitCheckId) {
|
| 1910 |
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
| 1911 |
/* Need to run a ranging to have the latest values */
|
| 1912 |
*pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); |
| 1913 |
|
| 1914 |
break;
|
| 1915 |
|
| 1916 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
| 1917 |
/* Need to run a ranging to have the latest values */
|
| 1918 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
| 1919 |
LastRangeMeasure); |
| 1920 |
*pLimitCheckCurrent = |
| 1921 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
| 1922 |
|
| 1923 |
break;
|
| 1924 |
|
| 1925 |
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
| 1926 |
/* Need to run a ranging to have the latest values */
|
| 1927 |
*pLimitCheckCurrent = PALDevDataGet(Dev, |
| 1928 |
LastSignalRefMcps); |
| 1929 |
|
| 1930 |
break;
|
| 1931 |
|
| 1932 |
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
| 1933 |
/* Need to run a ranging to have the latest values */
|
| 1934 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
| 1935 |
LastRangeMeasure); |
| 1936 |
*pLimitCheckCurrent = |
| 1937 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
| 1938 |
|
| 1939 |
break;
|
| 1940 |
|
| 1941 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
| 1942 |
/* Need to run a ranging to have the latest values */
|
| 1943 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
| 1944 |
LastRangeMeasure); |
| 1945 |
*pLimitCheckCurrent = |
| 1946 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
| 1947 |
|
| 1948 |
break;
|
| 1949 |
|
| 1950 |
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
| 1951 |
/* Need to run a ranging to have the latest values */
|
| 1952 |
LastRangeDataBuffer = PALDevDataGet(Dev, |
| 1953 |
LastRangeMeasure); |
| 1954 |
*pLimitCheckCurrent = |
| 1955 |
LastRangeDataBuffer.SignalRateRtnMegaCps; |
| 1956 |
|
| 1957 |
break;
|
| 1958 |
|
| 1959 |
default:
|
| 1960 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1961 |
} |
| 1962 |
} |
| 1963 |
|
| 1964 |
|
| 1965 |
|
| 1966 |
LOG_FUNCTION_END(Status); |
| 1967 |
return Status;
|
| 1968 |
|
| 1969 |
} |
| 1970 |
|
| 1971 |
/*
|
| 1972 |
* WRAPAROUND Check
|
| 1973 |
*/
|
| 1974 |
VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
| 1975 |
uint8_t WrapAroundCheckEnable) |
| 1976 |
{
|
| 1977 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1978 |
uint8_t Byte; |
| 1979 |
uint8_t WrapAroundCheckEnableInt; |
| 1980 |
|
| 1981 |
LOG_FUNCTION_START("");
|
| 1982 |
|
| 1983 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); |
| 1984 |
if (WrapAroundCheckEnable == 0) { |
| 1985 |
/* Disable wraparound */
|
| 1986 |
Byte = Byte & 0x7F;
|
| 1987 |
WrapAroundCheckEnableInt = 0;
|
| 1988 |
} else {
|
| 1989 |
/*Enable wraparound */
|
| 1990 |
Byte = Byte | 0x80;
|
| 1991 |
WrapAroundCheckEnableInt = 1;
|
| 1992 |
} |
| 1993 |
|
| 1994 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, Byte); |
| 1995 |
|
| 1996 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1997 |
PALDevDataSet(Dev, SequenceConfig, Byte); |
| 1998 |
VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
| 1999 |
WrapAroundCheckEnableInt); |
| 2000 |
} |
| 2001 |
|
| 2002 |
LOG_FUNCTION_END(Status); |
| 2003 |
return Status;
|
| 2004 |
} |
| 2005 |
|
| 2006 |
VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
| 2007 |
uint8_t *pWrapAroundCheckEnable) |
| 2008 |
{
|
| 2009 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2010 |
uint8_t data; |
| 2011 |
|
| 2012 |
LOG_FUNCTION_START("");
|
| 2013 |
|
| 2014 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); |
| 2015 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2016 |
PALDevDataSet(Dev, SequenceConfig, data); |
| 2017 |
if (data & (0x01 << 7)) |
| 2018 |
*pWrapAroundCheckEnable = 0x01;
|
| 2019 |
else
|
| 2020 |
*pWrapAroundCheckEnable = 0x00;
|
| 2021 |
} |
| 2022 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2023 |
VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
| 2024 |
*pWrapAroundCheckEnable); |
| 2025 |
} |
| 2026 |
|
| 2027 |
LOG_FUNCTION_END(Status); |
| 2028 |
return Status;
|
| 2029 |
} |
| 2030 |
|
| 2031 |
VL53L0X_Error VL53L0X_SetDmaxCalParameters(VL53L0X_DEV Dev, |
| 2032 |
uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps) |
| 2033 |
{
|
| 2034 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2035 |
FixPoint1616_t SignalRateRtnMegaCpsTemp = 0;
|
| 2036 |
|
| 2037 |
LOG_FUNCTION_START("");
|
| 2038 |
|
| 2039 |
/* Check if one of input parameter is zero, in that case the
|
| 2040 |
* value are get from NVM */
|
| 2041 |
if ((RangeMilliMeter == 0) || (SignalRateRtnMegaCps == 0)) { |
| 2042 |
/* NVM parameters */
|
| 2043 |
/* Run VL53L0X_get_info_from_device wit option 4 to get
|
| 2044 |
* signal rate at 400 mm if the value have been already
|
| 2045 |
* get this function will return with no access to device */
|
| 2046 |
VL53L0X_get_info_from_device(Dev, 4);
|
| 2047 |
|
| 2048 |
SignalRateRtnMegaCpsTemp = VL53L0X_GETDEVICESPECIFICPARAMETER( |
| 2049 |
Dev, SignalRateMeasFixed400mm); |
| 2050 |
|
| 2051 |
PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
|
| 2052 |
PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
| 2053 |
SignalRateRtnMegaCpsTemp); |
| 2054 |
} else {
|
| 2055 |
/* User parameters */
|
| 2056 |
PALDevDataSet(Dev, DmaxCalRangeMilliMeter, RangeMilliMeter); |
| 2057 |
PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
| 2058 |
SignalRateRtnMegaCps); |
| 2059 |
} |
| 2060 |
|
| 2061 |
LOG_FUNCTION_END(Status); |
| 2062 |
return Status;
|
| 2063 |
} |
| 2064 |
|
| 2065 |
VL53L0X_Error VL53L0X_GetDmaxCalParameters(VL53L0X_DEV Dev, |
| 2066 |
uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps) |
| 2067 |
{
|
| 2068 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2069 |
|
| 2070 |
LOG_FUNCTION_START("");
|
| 2071 |
|
| 2072 |
*pRangeMilliMeter = PALDevDataGet(Dev, DmaxCalRangeMilliMeter); |
| 2073 |
*pSignalRateRtnMegaCps = PALDevDataGet(Dev, |
| 2074 |
DmaxCalSignalRateRtnMegaCps); |
| 2075 |
|
| 2076 |
LOG_FUNCTION_END(Status); |
| 2077 |
return Status;
|
| 2078 |
} |
| 2079 |
|
| 2080 |
/* End Group PAL Parameters Functions */
|
| 2081 |
|
| 2082 |
/* Group PAL Measurement Functions */
|
| 2083 |
VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev) |
| 2084 |
{
|
| 2085 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2086 |
VL53L0X_DeviceModes DeviceMode; |
| 2087 |
|
| 2088 |
LOG_FUNCTION_START("");
|
| 2089 |
|
| 2090 |
/* Get Current DeviceMode */
|
| 2091 |
Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
| 2092 |
|
| 2093 |
/* Start immediately to run a single ranging measurement in case of
|
| 2094 |
* single ranging or single histogram */
|
| 2095 |
if (Status == VL53L0X_ERROR_NONE
|
| 2096 |
&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
| 2097 |
Status = VL53L0X_StartMeasurement(Dev); |
| 2098 |
|
| 2099 |
|
| 2100 |
if (Status == VL53L0X_ERROR_NONE
|
| 2101 |
&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
| 2102 |
Status = VL53L0X_measurement_poll_for_completion(Dev); |
| 2103 |
|
| 2104 |
|
| 2105 |
/* Change PAL State in case of single ranging or single histogram */
|
| 2106 |
if (Status == VL53L0X_ERROR_NONE
|
| 2107 |
&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
| 2108 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
| 2109 |
|
| 2110 |
|
| 2111 |
LOG_FUNCTION_END(Status); |
| 2112 |
return Status;
|
| 2113 |
} |
| 2114 |
|
| 2115 |
VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev, |
| 2116 |
VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) |
| 2117 |
{
|
| 2118 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 2119 |
LOG_FUNCTION_START("");
|
| 2120 |
|
| 2121 |
/* not implemented on VL53L0X */
|
| 2122 |
|
| 2123 |
LOG_FUNCTION_END(Status); |
| 2124 |
return Status;
|
| 2125 |
} |
| 2126 |
|
| 2127 |
VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
| 2128 |
uint8_t *pPhaseCal) |
| 2129 |
{
|
| 2130 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2131 |
LOG_FUNCTION_START("");
|
| 2132 |
|
| 2133 |
Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings, |
| 2134 |
pPhaseCal, 1);
|
| 2135 |
|
| 2136 |
LOG_FUNCTION_END(Status); |
| 2137 |
return Status;
|
| 2138 |
} |
| 2139 |
|
| 2140 |
VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, |
| 2141 |
uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, |
| 2142 |
uint8_t *pAmbientTooHigh) |
| 2143 |
{
|
| 2144 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 2145 |
LOG_FUNCTION_START("");
|
| 2146 |
|
| 2147 |
/* not implemented on VL53L0X */
|
| 2148 |
|
| 2149 |
LOG_FUNCTION_END(Status); |
| 2150 |
return Status;
|
| 2151 |
} |
| 2152 |
|
| 2153 |
VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, |
| 2154 |
FixPoint1616_t XTalkCalDistance, |
| 2155 |
FixPoint1616_t *pXTalkCompensationRateMegaCps) |
| 2156 |
{
|
| 2157 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2158 |
LOG_FUNCTION_START("");
|
| 2159 |
|
| 2160 |
Status = VL53L0X_perform_xtalk_calibration(Dev, XTalkCalDistance, |
| 2161 |
pXTalkCompensationRateMegaCps); |
| 2162 |
|
| 2163 |
LOG_FUNCTION_END(Status); |
| 2164 |
return Status;
|
| 2165 |
} |
| 2166 |
|
| 2167 |
VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, |
| 2168 |
FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter) |
| 2169 |
{
|
| 2170 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2171 |
LOG_FUNCTION_START("");
|
| 2172 |
|
| 2173 |
Status = VL53L0X_perform_offset_calibration(Dev, CalDistanceMilliMeter, |
| 2174 |
pOffsetMicroMeter); |
| 2175 |
|
| 2176 |
LOG_FUNCTION_END(Status); |
| 2177 |
return Status;
|
| 2178 |
} |
| 2179 |
|
| 2180 |
VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev, |
| 2181 |
uint8_t StartNotStopFlag) |
| 2182 |
{
|
| 2183 |
uint8_t InterruptConfig; |
| 2184 |
FixPoint1616_t ThresholdLow; |
| 2185 |
FixPoint1616_t ThresholdHigh; |
| 2186 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2187 |
|
| 2188 |
InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
| 2189 |
Pin0GpioFunctionality); |
| 2190 |
|
| 2191 |
if ((InterruptConfig ==
|
| 2192 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || |
| 2193 |
(InterruptConfig == |
| 2194 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || |
| 2195 |
(InterruptConfig == |
| 2196 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
|
| 2197 |
|
| 2198 |
Status = VL53L0X_GetInterruptThresholds(Dev, |
| 2199 |
VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
| 2200 |
&ThresholdLow, &ThresholdHigh); |
| 2201 |
|
| 2202 |
if (((ThresholdLow > 255*65536) || |
| 2203 |
(ThresholdHigh > 255*65536)) && |
| 2204 |
(Status == VL53L0X_ERROR_NONE)) {
|
| 2205 |
|
| 2206 |
if (StartNotStopFlag != 0) { |
| 2207 |
Status = VL53L0X_load_tuning_settings(Dev, |
| 2208 |
InterruptThresholdSettings); |
| 2209 |
} else {
|
| 2210 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); |
| 2211 |
Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); |
| 2212 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2213 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
| 2214 |
} |
| 2215 |
|
| 2216 |
} |
| 2217 |
|
| 2218 |
|
| 2219 |
} |
| 2220 |
|
| 2221 |
return Status;
|
| 2222 |
|
| 2223 |
} |
| 2224 |
|
| 2225 |
|
| 2226 |
VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev) |
| 2227 |
{
|
| 2228 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2229 |
VL53L0X_DeviceModes DeviceMode; |
| 2230 |
uint8_t Byte; |
| 2231 |
uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; |
| 2232 |
uint32_t LoopNb; |
| 2233 |
LOG_FUNCTION_START("");
|
| 2234 |
|
| 2235 |
/* Get Current DeviceMode */
|
| 2236 |
VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
| 2237 |
|
| 2238 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
| 2239 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2240 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
| 2241 |
Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
|
| 2242 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
| 2243 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2244 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
| 2245 |
|
| 2246 |
switch (DeviceMode) {
|
| 2247 |
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
|
| 2248 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
|
| 2249 |
|
| 2250 |
Byte = StartStopByte; |
| 2251 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2252 |
/* Wait until start bit has been cleared */
|
| 2253 |
LoopNb = 0;
|
| 2254 |
do {
|
| 2255 |
if (LoopNb > 0) |
| 2256 |
Status = VL53L0X_RdByte(Dev, |
| 2257 |
VL53L0X_REG_SYSRANGE_START, &Byte); |
| 2258 |
LoopNb = LoopNb + 1;
|
| 2259 |
} while (((Byte & StartStopByte) == StartStopByte)
|
| 2260 |
&& (Status == VL53L0X_ERROR_NONE) |
| 2261 |
&& (LoopNb < VL53L0X_DEFAULT_MAX_LOOP)); |
| 2262 |
|
| 2263 |
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
|
| 2264 |
Status = VL53L0X_ERROR_TIME_OUT; |
| 2265 |
|
| 2266 |
} |
| 2267 |
|
| 2268 |
break;
|
| 2269 |
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
|
| 2270 |
/* Back-to-back mode */
|
| 2271 |
|
| 2272 |
/* Check if need to apply interrupt settings */
|
| 2273 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2274 |
Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
|
| 2275 |
|
| 2276 |
Status = VL53L0X_WrByte(Dev, |
| 2277 |
VL53L0X_REG_SYSRANGE_START, |
| 2278 |
VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); |
| 2279 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2280 |
/* Set PAL State to Running */
|
| 2281 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
| 2282 |
} |
| 2283 |
break;
|
| 2284 |
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
|
| 2285 |
/* Continuous mode */
|
| 2286 |
/* Check if need to apply interrupt settings */
|
| 2287 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2288 |
Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
|
| 2289 |
|
| 2290 |
Status = VL53L0X_WrByte(Dev, |
| 2291 |
VL53L0X_REG_SYSRANGE_START, |
| 2292 |
VL53L0X_REG_SYSRANGE_MODE_TIMED); |
| 2293 |
|
| 2294 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2295 |
/* Set PAL State to Running */
|
| 2296 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
| 2297 |
} |
| 2298 |
break;
|
| 2299 |
default:
|
| 2300 |
/* Selected mode not supported */
|
| 2301 |
Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
| 2302 |
} |
| 2303 |
|
| 2304 |
|
| 2305 |
LOG_FUNCTION_END(Status); |
| 2306 |
return Status;
|
| 2307 |
} |
| 2308 |
|
| 2309 |
VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev) |
| 2310 |
{
|
| 2311 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2312 |
LOG_FUNCTION_START("");
|
| 2313 |
|
| 2314 |
Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, |
| 2315 |
VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); |
| 2316 |
|
| 2317 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2318 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
| 2319 |
Status = VL53L0X_WrByte(Dev, 0x91, 0x00); |
| 2320 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
| 2321 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2322 |
|
| 2323 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2324 |
/* Set PAL State to Idle */
|
| 2325 |
PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
| 2326 |
} |
| 2327 |
|
| 2328 |
/* Check if need to apply interrupt settings */
|
| 2329 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2330 |
Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0);
|
| 2331 |
|
| 2332 |
LOG_FUNCTION_END(Status); |
| 2333 |
return Status;
|
| 2334 |
} |
| 2335 |
|
| 2336 |
VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, |
| 2337 |
uint8_t *pMeasurementDataReady) |
| 2338 |
{
|
| 2339 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2340 |
uint8_t SysRangeStatusRegister; |
| 2341 |
uint8_t InterruptConfig; |
| 2342 |
uint32_t InterruptMask; |
| 2343 |
LOG_FUNCTION_START("");
|
| 2344 |
|
| 2345 |
InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
| 2346 |
Pin0GpioFunctionality); |
| 2347 |
|
| 2348 |
if (InterruptConfig ==
|
| 2349 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
|
| 2350 |
Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask); |
| 2351 |
if (InterruptMask ==
|
| 2352 |
VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) |
| 2353 |
*pMeasurementDataReady = 1;
|
| 2354 |
else
|
| 2355 |
*pMeasurementDataReady = 0;
|
| 2356 |
} else {
|
| 2357 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
| 2358 |
&SysRangeStatusRegister); |
| 2359 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2360 |
if (SysRangeStatusRegister & 0x01) |
| 2361 |
*pMeasurementDataReady = 1;
|
| 2362 |
else
|
| 2363 |
*pMeasurementDataReady = 0;
|
| 2364 |
} |
| 2365 |
} |
| 2366 |
|
| 2367 |
LOG_FUNCTION_END(Status); |
| 2368 |
return Status;
|
| 2369 |
} |
| 2370 |
|
| 2371 |
VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev, |
| 2372 |
uint32_t MaxLoop) |
| 2373 |
{
|
| 2374 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 2375 |
LOG_FUNCTION_START("");
|
| 2376 |
|
| 2377 |
/* not implemented for VL53L0X */
|
| 2378 |
|
| 2379 |
LOG_FUNCTION_END(Status); |
| 2380 |
return Status;
|
| 2381 |
} |
| 2382 |
|
| 2383 |
|
| 2384 |
VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, |
| 2385 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
| 2386 |
{
|
| 2387 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2388 |
uint8_t DeviceRangeStatus; |
| 2389 |
uint8_t RangeFractionalEnable; |
| 2390 |
uint8_t PalRangeStatus; |
| 2391 |
uint8_t XTalkCompensationEnable; |
| 2392 |
uint16_t AmbientRate; |
| 2393 |
FixPoint1616_t SignalRate; |
| 2394 |
uint16_t XTalkCompensationRateMegaCps; |
| 2395 |
uint16_t EffectiveSpadRtnCount; |
| 2396 |
uint16_t tmpuint16; |
| 2397 |
uint16_t XtalkRangeMilliMeter; |
| 2398 |
uint16_t LinearityCorrectiveGain; |
| 2399 |
uint8_t localBuffer[12];
|
| 2400 |
VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
| 2401 |
|
| 2402 |
LOG_FUNCTION_START("");
|
| 2403 |
|
| 2404 |
/*
|
| 2405 |
* use multi read even if some registers are not useful, result will
|
| 2406 |
* be more efficient
|
| 2407 |
* start reading at 0x14 dec20
|
| 2408 |
* end reading at 0x21 dec33 total 14 bytes to read
|
| 2409 |
*/
|
| 2410 |
Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12); |
| 2411 |
|
| 2412 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2413 |
|
| 2414 |
pRangingMeasurementData->ZoneId = 0; /* Only one zone */ |
| 2415 |
pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ |
| 2416 |
|
| 2417 |
tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]); |
| 2418 |
/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
|
| 2419 |
*(format 11.2) else no fractional
|
| 2420 |
*/
|
| 2421 |
|
| 2422 |
pRangingMeasurementData->MeasurementTimeUsec = 0;
|
| 2423 |
|
| 2424 |
SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616( |
| 2425 |
VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); |
| 2426 |
/* peak_signal_count_rate_rtn_mcps */
|
| 2427 |
pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; |
| 2428 |
|
| 2429 |
AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]); |
| 2430 |
pRangingMeasurementData->AmbientRateRtnMegaCps = |
| 2431 |
VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate); |
| 2432 |
|
| 2433 |
EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
|
| 2434 |
localBuffer[2]);
|
| 2435 |
/* EffectiveSpadRtnCount is 8.8 format */
|
| 2436 |
pRangingMeasurementData->EffectiveSpadRtnCount = |
| 2437 |
EffectiveSpadRtnCount; |
| 2438 |
|
| 2439 |
DeviceRangeStatus = localBuffer[0];
|
| 2440 |
|
| 2441 |
/* Get Linearity Corrective Gain */
|
| 2442 |
LinearityCorrectiveGain = PALDevDataGet(Dev, |
| 2443 |
LinearityCorrectiveGain); |
| 2444 |
|
| 2445 |
/* Get ranging configuration */
|
| 2446 |
RangeFractionalEnable = PALDevDataGet(Dev, |
| 2447 |
RangeFractionalEnable); |
| 2448 |
|
| 2449 |
if (LinearityCorrectiveGain != 1000) { |
| 2450 |
|
| 2451 |
tmpuint16 = (uint16_t)((LinearityCorrectiveGain |
| 2452 |
* tmpuint16 + 500) / 1000); |
| 2453 |
|
| 2454 |
/* Implement Xtalk */
|
| 2455 |
VL53L0X_GETPARAMETERFIELD(Dev, |
| 2456 |
XTalkCompensationRateMegaCps, |
| 2457 |
XTalkCompensationRateMegaCps); |
| 2458 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
| 2459 |
XTalkCompensationEnable); |
| 2460 |
|
| 2461 |
if (XTalkCompensationEnable) {
|
| 2462 |
|
| 2463 |
if ((SignalRate
|
| 2464 |
- ((XTalkCompensationRateMegaCps |
| 2465 |
* EffectiveSpadRtnCount) >> 8))
|
| 2466 |
<= 0) {
|
| 2467 |
if (RangeFractionalEnable)
|
| 2468 |
XtalkRangeMilliMeter = 8888;
|
| 2469 |
else
|
| 2470 |
XtalkRangeMilliMeter = 8888
|
| 2471 |
<< 2;
|
| 2472 |
} else {
|
| 2473 |
XtalkRangeMilliMeter = |
| 2474 |
(tmpuint16 * SignalRate) |
| 2475 |
/ (SignalRate |
| 2476 |
- ((XTalkCompensationRateMegaCps |
| 2477 |
* EffectiveSpadRtnCount) |
| 2478 |
>> 8));
|
| 2479 |
} |
| 2480 |
|
| 2481 |
tmpuint16 = XtalkRangeMilliMeter; |
| 2482 |
} |
| 2483 |
|
| 2484 |
} |
| 2485 |
|
| 2486 |
if (RangeFractionalEnable) {
|
| 2487 |
pRangingMeasurementData->RangeMilliMeter = |
| 2488 |
(uint16_t)((tmpuint16) >> 2);
|
| 2489 |
pRangingMeasurementData->RangeFractionalPart = |
| 2490 |
(uint8_t)((tmpuint16 & 0x03) << 6); |
| 2491 |
} else {
|
| 2492 |
pRangingMeasurementData->RangeMilliMeter = tmpuint16; |
| 2493 |
pRangingMeasurementData->RangeFractionalPart = 0;
|
| 2494 |
} |
| 2495 |
|
| 2496 |
/*
|
| 2497 |
* For a standard definition of RangeStatus, this should
|
| 2498 |
* return 0 in case of good result after a ranging
|
| 2499 |
* The range status depends on the device so call a device
|
| 2500 |
* specific function to obtain the right Status.
|
| 2501 |
*/
|
| 2502 |
Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus, |
| 2503 |
SignalRate, EffectiveSpadRtnCount, |
| 2504 |
pRangingMeasurementData, &PalRangeStatus); |
| 2505 |
|
| 2506 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2507 |
pRangingMeasurementData->RangeStatus = PalRangeStatus; |
| 2508 |
|
| 2509 |
} |
| 2510 |
|
| 2511 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2512 |
/* Copy last read data into Dev buffer */
|
| 2513 |
LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
| 2514 |
|
| 2515 |
LastRangeDataBuffer.RangeMilliMeter = |
| 2516 |
pRangingMeasurementData->RangeMilliMeter; |
| 2517 |
LastRangeDataBuffer.RangeFractionalPart = |
| 2518 |
pRangingMeasurementData->RangeFractionalPart; |
| 2519 |
LastRangeDataBuffer.RangeDMaxMilliMeter = |
| 2520 |
pRangingMeasurementData->RangeDMaxMilliMeter; |
| 2521 |
LastRangeDataBuffer.MeasurementTimeUsec = |
| 2522 |
pRangingMeasurementData->MeasurementTimeUsec; |
| 2523 |
LastRangeDataBuffer.SignalRateRtnMegaCps = |
| 2524 |
pRangingMeasurementData->SignalRateRtnMegaCps; |
| 2525 |
LastRangeDataBuffer.AmbientRateRtnMegaCps = |
| 2526 |
pRangingMeasurementData->AmbientRateRtnMegaCps; |
| 2527 |
LastRangeDataBuffer.EffectiveSpadRtnCount = |
| 2528 |
pRangingMeasurementData->EffectiveSpadRtnCount; |
| 2529 |
LastRangeDataBuffer.RangeStatus = |
| 2530 |
pRangingMeasurementData->RangeStatus; |
| 2531 |
|
| 2532 |
PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); |
| 2533 |
} |
| 2534 |
|
| 2535 |
LOG_FUNCTION_END(Status); |
| 2536 |
return Status;
|
| 2537 |
} |
| 2538 |
|
| 2539 |
VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, |
| 2540 |
FixPoint1616_t *pMeasurementRefSignal) |
| 2541 |
{
|
| 2542 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2543 |
uint8_t SignalRefClipLimitCheckEnable = 0;
|
| 2544 |
LOG_FUNCTION_START("");
|
| 2545 |
|
| 2546 |
Status = VL53L0X_GetLimitCheckEnable(Dev, |
| 2547 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
| 2548 |
&SignalRefClipLimitCheckEnable); |
| 2549 |
if (SignalRefClipLimitCheckEnable != 0) { |
| 2550 |
*pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps); |
| 2551 |
} else {
|
| 2552 |
Status = VL53L0X_ERROR_INVALID_COMMAND; |
| 2553 |
} |
| 2554 |
LOG_FUNCTION_END(Status); |
| 2555 |
|
| 2556 |
return Status;
|
| 2557 |
} |
| 2558 |
|
| 2559 |
VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, |
| 2560 |
VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) |
| 2561 |
{
|
| 2562 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 2563 |
LOG_FUNCTION_START("");
|
| 2564 |
|
| 2565 |
LOG_FUNCTION_END(Status); |
| 2566 |
return Status;
|
| 2567 |
} |
| 2568 |
|
| 2569 |
VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, |
| 2570 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
| 2571 |
{
|
| 2572 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2573 |
|
| 2574 |
LOG_FUNCTION_START("");
|
| 2575 |
|
| 2576 |
/* This function will do a complete single ranging
|
| 2577 |
* Here we fix the mode! */
|
| 2578 |
Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); |
| 2579 |
|
| 2580 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2581 |
Status = VL53L0X_PerformSingleMeasurement(Dev); |
| 2582 |
|
| 2583 |
|
| 2584 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2585 |
Status = VL53L0X_GetRangingMeasurementData(Dev, |
| 2586 |
pRangingMeasurementData); |
| 2587 |
|
| 2588 |
|
| 2589 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2590 |
Status = VL53L0X_ClearInterruptMask(Dev, 0);
|
| 2591 |
|
| 2592 |
|
| 2593 |
LOG_FUNCTION_END(Status); |
| 2594 |
return Status;
|
| 2595 |
} |
| 2596 |
|
| 2597 |
VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, |
| 2598 |
uint8_t NumberOfROIZones) |
| 2599 |
{
|
| 2600 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2601 |
|
| 2602 |
LOG_FUNCTION_START("");
|
| 2603 |
|
| 2604 |
if (NumberOfROIZones != 1) |
| 2605 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 2606 |
|
| 2607 |
|
| 2608 |
LOG_FUNCTION_END(Status); |
| 2609 |
return Status;
|
| 2610 |
} |
| 2611 |
|
| 2612 |
VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, |
| 2613 |
uint8_t *pNumberOfROIZones) |
| 2614 |
{
|
| 2615 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2616 |
|
| 2617 |
LOG_FUNCTION_START("");
|
| 2618 |
|
| 2619 |
*pNumberOfROIZones = 1;
|
| 2620 |
|
| 2621 |
LOG_FUNCTION_END(Status); |
| 2622 |
return Status;
|
| 2623 |
} |
| 2624 |
|
| 2625 |
VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, |
| 2626 |
uint8_t *pMaxNumberOfROIZones) |
| 2627 |
{
|
| 2628 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2629 |
|
| 2630 |
LOG_FUNCTION_START("");
|
| 2631 |
|
| 2632 |
*pMaxNumberOfROIZones = 1;
|
| 2633 |
|
| 2634 |
LOG_FUNCTION_END(Status); |
| 2635 |
return Status;
|
| 2636 |
} |
| 2637 |
|
| 2638 |
/* End Group PAL Measurement Functions */
|
| 2639 |
|
| 2640 |
VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
| 2641 |
VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, |
| 2642 |
VL53L0X_InterruptPolarity Polarity) |
| 2643 |
{
|
| 2644 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2645 |
uint8_t data; |
| 2646 |
|
| 2647 |
LOG_FUNCTION_START("");
|
| 2648 |
|
| 2649 |
if (Pin != 0) { |
| 2650 |
Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
| 2651 |
} else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) { |
| 2652 |
if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
|
| 2653 |
data = 0x10;
|
| 2654 |
else
|
| 2655 |
data = 1;
|
| 2656 |
|
| 2657 |
Status = VL53L0X_WrByte(Dev, |
| 2658 |
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); |
| 2659 |
|
| 2660 |
} else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) { |
| 2661 |
|
| 2662 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
| 2663 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
| 2664 |
|
| 2665 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
| 2666 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
| 2667 |
Status |= VL53L0X_WrByte(Dev, 0x85, 0x02); |
| 2668 |
|
| 2669 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x04); |
| 2670 |
Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00); |
| 2671 |
Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11); |
| 2672 |
|
| 2673 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x07); |
| 2674 |
Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00); |
| 2675 |
|
| 2676 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x06); |
| 2677 |
Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09); |
| 2678 |
|
| 2679 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
| 2680 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
| 2681 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
| 2682 |
|
| 2683 |
} else {
|
| 2684 |
|
| 2685 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2686 |
switch (Functionality) {
|
| 2687 |
case VL53L0X_GPIOFUNCTIONALITY_OFF:
|
| 2688 |
data = 0x00;
|
| 2689 |
break;
|
| 2690 |
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
|
| 2691 |
data = 0x01;
|
| 2692 |
break;
|
| 2693 |
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
|
| 2694 |
data = 0x02;
|
| 2695 |
break;
|
| 2696 |
case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
|
| 2697 |
data = 0x03;
|
| 2698 |
break;
|
| 2699 |
case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
|
| 2700 |
data = 0x04;
|
| 2701 |
break;
|
| 2702 |
default:
|
| 2703 |
Status = |
| 2704 |
VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
| 2705 |
} |
| 2706 |
} |
| 2707 |
|
| 2708 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2709 |
Status = VL53L0X_WrByte(Dev, |
| 2710 |
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); |
| 2711 |
|
| 2712 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2713 |
if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
|
| 2714 |
data = 0;
|
| 2715 |
else
|
| 2716 |
data = (uint8_t)(1 << 4); |
| 2717 |
|
| 2718 |
Status = VL53L0X_UpdateByte(Dev, |
| 2719 |
VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
|
| 2720 |
} |
| 2721 |
|
| 2722 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2723 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 2724 |
Pin0GpioFunctionality, Functionality); |
| 2725 |
|
| 2726 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2727 |
Status = VL53L0X_ClearInterruptMask(Dev, 0);
|
| 2728 |
|
| 2729 |
} |
| 2730 |
|
| 2731 |
LOG_FUNCTION_END(Status); |
| 2732 |
return Status;
|
| 2733 |
} |
| 2734 |
|
| 2735 |
VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
| 2736 |
VL53L0X_DeviceModes *pDeviceMode, |
| 2737 |
VL53L0X_GpioFunctionality *pFunctionality, |
| 2738 |
VL53L0X_InterruptPolarity *pPolarity) |
| 2739 |
{
|
| 2740 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2741 |
VL53L0X_GpioFunctionality GpioFunctionality; |
| 2742 |
uint8_t data; |
| 2743 |
|
| 2744 |
LOG_FUNCTION_START("");
|
| 2745 |
|
| 2746 |
/* pDeviceMode not managed by Ewok it return the current mode */
|
| 2747 |
|
| 2748 |
Status = VL53L0X_GetDeviceMode(Dev, pDeviceMode); |
| 2749 |
|
| 2750 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2751 |
if (Pin != 0) { |
| 2752 |
Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
| 2753 |
} else {
|
| 2754 |
Status = VL53L0X_RdByte(Dev, |
| 2755 |
VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data); |
| 2756 |
} |
| 2757 |
} |
| 2758 |
|
| 2759 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2760 |
switch (data & 0x07) { |
| 2761 |
case 0x00: |
| 2762 |
GpioFunctionality = VL53L0X_GPIOFUNCTIONALITY_OFF; |
| 2763 |
break;
|
| 2764 |
case 0x01: |
| 2765 |
GpioFunctionality = |
| 2766 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; |
| 2767 |
break;
|
| 2768 |
case 0x02: |
| 2769 |
GpioFunctionality = |
| 2770 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; |
| 2771 |
break;
|
| 2772 |
case 0x03: |
| 2773 |
GpioFunctionality = |
| 2774 |
VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; |
| 2775 |
break;
|
| 2776 |
case 0x04: |
| 2777 |
GpioFunctionality = |
| 2778 |
VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY; |
| 2779 |
break;
|
| 2780 |
default:
|
| 2781 |
Status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
| 2782 |
} |
| 2783 |
} |
| 2784 |
|
| 2785 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2786 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, |
| 2787 |
&data); |
| 2788 |
|
| 2789 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2790 |
if ((data & (uint8_t)(1 << 4)) == 0) |
| 2791 |
*pPolarity = VL53L0X_INTERRUPTPOLARITY_LOW; |
| 2792 |
else
|
| 2793 |
*pPolarity = VL53L0X_INTERRUPTPOLARITY_HIGH; |
| 2794 |
} |
| 2795 |
|
| 2796 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2797 |
*pFunctionality = GpioFunctionality; |
| 2798 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, |
| 2799 |
GpioFunctionality); |
| 2800 |
} |
| 2801 |
|
| 2802 |
LOG_FUNCTION_END(Status); |
| 2803 |
return Status;
|
| 2804 |
} |
| 2805 |
|
| 2806 |
VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, |
| 2807 |
VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, |
| 2808 |
FixPoint1616_t ThresholdHigh) |
| 2809 |
{
|
| 2810 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2811 |
uint16_t Threshold16; |
| 2812 |
LOG_FUNCTION_START("");
|
| 2813 |
|
| 2814 |
/* no dependency on DeviceMode for Ewok */
|
| 2815 |
/* Need to divide by 2 because the FW will apply a x2 */
|
| 2816 |
Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); |
| 2817 |
Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, Threshold16); |
| 2818 |
|
| 2819 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2820 |
/* Need to divide by 2 because the FW will apply a x2 */
|
| 2821 |
Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); |
| 2822 |
Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
| 2823 |
Threshold16); |
| 2824 |
} |
| 2825 |
|
| 2826 |
LOG_FUNCTION_END(Status); |
| 2827 |
return Status;
|
| 2828 |
} |
| 2829 |
|
| 2830 |
VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, |
| 2831 |
VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, |
| 2832 |
FixPoint1616_t *pThresholdHigh) |
| 2833 |
{
|
| 2834 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2835 |
uint16_t Threshold16; |
| 2836 |
LOG_FUNCTION_START("");
|
| 2837 |
|
| 2838 |
/* no dependency on DeviceMode for Ewok */
|
| 2839 |
|
| 2840 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16); |
| 2841 |
/* Need to multiply by 2 because the FW will apply a x2 */
|
| 2842 |
*pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); |
| 2843 |
|
| 2844 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2845 |
Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
| 2846 |
&Threshold16); |
| 2847 |
/* Need to multiply by 2 because the FW will apply a x2 */
|
| 2848 |
*pThresholdHigh = |
| 2849 |
(FixPoint1616_t)((0x00fff & Threshold16) << 17); |
| 2850 |
} |
| 2851 |
|
| 2852 |
LOG_FUNCTION_END(Status); |
| 2853 |
return Status;
|
| 2854 |
} |
| 2855 |
|
| 2856 |
VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, |
| 2857 |
uint32_t *pStopStatus) |
| 2858 |
{
|
| 2859 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2860 |
uint8_t Byte = 0;
|
| 2861 |
LOG_FUNCTION_START("");
|
| 2862 |
|
| 2863 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2864 |
|
| 2865 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2866 |
Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
|
| 2867 |
|
| 2868 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2869 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x0); |
| 2870 |
|
| 2871 |
*pStopStatus = Byte; |
| 2872 |
|
| 2873 |
if (Byte == 0) { |
| 2874 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
| 2875 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2876 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
| 2877 |
Status = VL53L0X_WrByte(Dev, 0x91,
|
| 2878 |
PALDevDataGet(Dev, StopVariable)); |
| 2879 |
Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
| 2880 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2881 |
Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
| 2882 |
} |
| 2883 |
|
| 2884 |
LOG_FUNCTION_END(Status); |
| 2885 |
return Status;
|
| 2886 |
} |
| 2887 |
|
| 2888 |
/* Group PAL Interrupt Functions */
|
| 2889 |
VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
| 2890 |
{
|
| 2891 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2892 |
uint8_t LoopCount; |
| 2893 |
uint8_t Byte; |
| 2894 |
LOG_FUNCTION_START("");
|
| 2895 |
|
| 2896 |
/* clear bit 0 range interrupt, bit 1 error interrupt */
|
| 2897 |
LoopCount = 0;
|
| 2898 |
do {
|
| 2899 |
Status = VL53L0X_WrByte(Dev, |
| 2900 |
VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
| 2901 |
Status |= VL53L0X_WrByte(Dev, |
| 2902 |
VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
|
| 2903 |
Status |= VL53L0X_RdByte(Dev, |
| 2904 |
VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
| 2905 |
LoopCount++; |
| 2906 |
} while (((Byte & 0x07) != 0x00) |
| 2907 |
&& (LoopCount < 3)
|
| 2908 |
&& (Status == VL53L0X_ERROR_NONE)); |
| 2909 |
|
| 2910 |
|
| 2911 |
if (LoopCount >= 3) |
| 2912 |
Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; |
| 2913 |
|
| 2914 |
LOG_FUNCTION_END(Status); |
| 2915 |
return Status;
|
| 2916 |
} |
| 2917 |
|
| 2918 |
VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, |
| 2919 |
uint32_t *pInterruptMaskStatus) |
| 2920 |
{
|
| 2921 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2922 |
uint8_t Byte; |
| 2923 |
LOG_FUNCTION_START("");
|
| 2924 |
|
| 2925 |
Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
| 2926 |
*pInterruptMaskStatus = Byte & 0x07;
|
| 2927 |
|
| 2928 |
if (Byte & 0x18) |
| 2929 |
Status = VL53L0X_ERROR_RANGE_ERROR; |
| 2930 |
|
| 2931 |
LOG_FUNCTION_END(Status); |
| 2932 |
return Status;
|
| 2933 |
} |
| 2934 |
|
| 2935 |
VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
| 2936 |
{
|
| 2937 |
VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
| 2938 |
LOG_FUNCTION_START("");
|
| 2939 |
|
| 2940 |
/* not implemented for VL53L0X */
|
| 2941 |
|
| 2942 |
LOG_FUNCTION_END(Status); |
| 2943 |
return Status;
|
| 2944 |
} |
| 2945 |
|
| 2946 |
/* End Group PAL Interrupt Functions */
|
| 2947 |
|
| 2948 |
/* Group SPAD functions */
|
| 2949 |
|
| 2950 |
VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, |
| 2951 |
uint16_t SpadAmbientDamperThreshold) |
| 2952 |
{
|
| 2953 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2954 |
LOG_FUNCTION_START("");
|
| 2955 |
|
| 2956 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2957 |
Status |= VL53L0X_WrWord(Dev, 0x40, SpadAmbientDamperThreshold);
|
| 2958 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2959 |
|
| 2960 |
LOG_FUNCTION_END(Status); |
| 2961 |
return Status;
|
| 2962 |
} |
| 2963 |
|
| 2964 |
VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, |
| 2965 |
uint16_t *pSpadAmbientDamperThreshold) |
| 2966 |
{
|
| 2967 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2968 |
LOG_FUNCTION_START("");
|
| 2969 |
|
| 2970 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2971 |
Status |= VL53L0X_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold);
|
| 2972 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2973 |
|
| 2974 |
LOG_FUNCTION_END(Status); |
| 2975 |
return Status;
|
| 2976 |
} |
| 2977 |
|
| 2978 |
VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, |
| 2979 |
uint16_t SpadAmbientDamperFactor) |
| 2980 |
{
|
| 2981 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2982 |
uint8_t Byte; |
| 2983 |
LOG_FUNCTION_START("");
|
| 2984 |
|
| 2985 |
Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF);
|
| 2986 |
|
| 2987 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2988 |
Status |= VL53L0X_WrByte(Dev, 0x42, Byte);
|
| 2989 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2990 |
|
| 2991 |
LOG_FUNCTION_END(Status); |
| 2992 |
return Status;
|
| 2993 |
} |
| 2994 |
|
| 2995 |
VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, |
| 2996 |
uint16_t *pSpadAmbientDamperFactor) |
| 2997 |
{
|
| 2998 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2999 |
uint8_t Byte; |
| 3000 |
LOG_FUNCTION_START("");
|
| 3001 |
|
| 3002 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 3003 |
Status |= VL53L0X_RdByte(Dev, 0x42, &Byte);
|
| 3004 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 3005 |
*pSpadAmbientDamperFactor = (uint16_t)Byte; |
| 3006 |
|
| 3007 |
LOG_FUNCTION_END(Status); |
| 3008 |
return Status;
|
| 3009 |
} |
| 3010 |
|
| 3011 |
/* END Group SPAD functions */
|
| 3012 |
|
| 3013 |
/*****************************************************************************
|
| 3014 |
* Internal functions
|
| 3015 |
*****************************************************************************/
|
| 3016 |
|
| 3017 |
VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, uint32_t count, |
| 3018 |
uint8_t isApertureSpads) |
| 3019 |
{
|
| 3020 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 3021 |
LOG_FUNCTION_START("");
|
| 3022 |
|
| 3023 |
Status = VL53L0X_set_reference_spads(Dev, count, isApertureSpads); |
| 3024 |
|
| 3025 |
LOG_FUNCTION_END(Status); |
| 3026 |
|
| 3027 |
return Status;
|
| 3028 |
} |
| 3029 |
|
| 3030 |
VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, uint32_t *pSpadCount, |
| 3031 |
uint8_t *pIsApertureSpads) |
| 3032 |
{
|
| 3033 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 3034 |
LOG_FUNCTION_START("");
|
| 3035 |
|
| 3036 |
Status = VL53L0X_get_reference_spads(Dev, pSpadCount, pIsApertureSpads); |
| 3037 |
|
| 3038 |
LOG_FUNCTION_END(Status); |
| 3039 |
|
| 3040 |
return Status;
|
| 3041 |
} |
| 3042 |
|
| 3043 |
VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, |
| 3044 |
uint32_t *refSpadCount, uint8_t *isApertureSpads) |
| 3045 |
{
|
| 3046 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 3047 |
LOG_FUNCTION_START("");
|
| 3048 |
|
| 3049 |
Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount, |
| 3050 |
isApertureSpads); |
| 3051 |
|
| 3052 |
LOG_FUNCTION_END(Status); |
| 3053 |
|
| 3054 |
return Status;
|
| 3055 |
} |